Publications

Detection and Management of Human-Cable Collision in Cable-Driven Parallel Robots

Published in IEEE Robotics and Automation Letters, 2024

This work is the first to propose and experimentally validate a human-cable collision management strategy based on cable sagging in Cable-Driven Parallel Robots. In addition, it formally states the problem of collision cable identification and introduces a mathematical solution to address it.

Recommended citation: H. Gao, C. Chevallereau, and S. Caro. (2024). "Detection and Management of Human-Cable Collision in Cable-Driven Parallel Robots." IEEE Robotics and Automation Letters. Vol. 9, No. 12, pp. 11698-11705. doi: 10.1109/LRA.2024.3487051.
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Enhancing Safety in Collaborative Cable-Driven Parallel Robots: Contact Distinction and Management for Carrying Tasks

Published in IEEE Transactions on Automation Science and Engineering, 2025

This paper proposes a cable tension–based metric for detecting contact events in Cable-Driven Parallel Robots (CDPRs), distinguishing different contact scenarios, and implementing tailored management strategies to enhance safety during carrying tasks.

Recommended citation: H. Gao, C. Chevallereau, and S. Caro. (2025). "Enhancing Safety in Collaborative Cable-Driven Parallel Robots: Contact Distinction and Management for Carrying Tasks." IEEE Transactions on Automation Science and Engineering (T-ASE), vol. 22, pp. 18860-18874, 2025.
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A Comprehensive Framework for Safety and Collaborative Management of Physical Human–Robot Interaction in Cable-Driven Parallel Robots

Under Review

This manuscript proposes a unified, feasibility-aware framework for safe and effective physical human–robot interaction (pHRI) in cable-driven parallel robots (CDPRs). The approach jointly manages human–cable and human–moving-platform (MP) contacts by combining collided-cable stiffness reduction with MP-level elasto-plastic trajectory compliance, while a feasibility-aware safety manager monitors wrench-feasible conditions and prevents workspace failure under sensing and estimation uncertainties. Experiments on a large-scale CDPR demonstrate safe contact handling, continued task execution after collisions, and favourable collaborative behaviour, with an analysis of the associated energy implications.

Advancements in Human-Cable Collision Detection and Management in Cable-Driven Parallel Robots

Published in The Seventh International Conference on Cable-Driven Parallel Robots (CableCon 2025), Hong Kong, China, 2025

This paper presents an advanced method for detecting human-cable collisions in Cable-Driven Parallel Robots within 100 ms and reducing the collided cable tension within 1 s to ensure safety. The system also restores the tension 1 s after the collision ends, enabling responsive and safe human-robot interaction.

Recommended citation: H. Gao, C. Chevallereau, and S. Caro. (2025). "Advancements in Human-Cable Collision Detection and Management in Cable-Driven Parallel Robots." The Seventh International Conference on Cable-Driven Parallel Robots (CableCon 2025), Jul 2025, Hong Kong, China. ⟨hal-04912207v1⟩.
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Input-to-State Robustness Control for Human–Cable Interaction in Cable-Driven Parallel Robots

Under Review

This paper develops a collision-aware control strategy for cable-driven parallel robots (CDPRs) during human–cable interaction. We propose a rapidly exponentially input-to-state stable Control Lyapunov Function (RES–ISS–CLF) controller and augment it with a QP-based tension distribution layer that enforces unilateral cable constraints while applying a smooth, time-varying upper-bound reduction on the contacted cable. The method is evaluated in a cable-wrapping simulator with an arm-like obstacle and shows stable tracking and improved post-contact behaviour compared with PID and CLF–QP baselines.

Recommended citation: R. Keskin, H. Gao, C. Chevallereau, and S. Caro. “Input-to-State Robustness Control for Human–Cable Interaction in Cable-Driven Parallel Robots.” Submitted to the European Control Conference (ECC), 2026.
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