{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,14]],"date-time":"2026-07-14T18:51:37Z","timestamp":1784055097403,"version":"3.55.0"},"reference-count":20,"publisher":"Emerald","issue":"3","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,4,30]]},"abstract":"<jats:sec>\n                  <jats:title>Purpose<\/jats:title>\n                  <jats:p>The safety performance of Delta robots is particularly important. Hence, this paper aims to improve the existing method to achieve efficient and safe robots.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Design\/methodology\/approach<\/jats:title>\n                  <jats:p>This paper designs a generalized momentum extended state observer method to estimate external torque. Meanwhile, a dynamic threshold method for current torque is designed. In addition, a segmented safety response strategy based on task space position feedforward is introduced.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Findings<\/jats:title>\n                  <jats:p>Simulation and experimental results verify the effectiveness of the proposed method.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Originality\/value<\/jats:title>\n                  <jats:p>This paper designs a dynamic threshold collision detection method that does not require external sensors. Compared with static threshold collision detection methods, this method can avoid false alarm problems. This paper also proposes a segmented safety response strategy, which can improve the efficiency and safety of Delta robots.<\/jats:p>\n               <\/jats:sec>","DOI":"10.1108\/ir-09-2024-0428","type":"journal-article","created":{"date-parts":[[2024,12,12]],"date-time":"2024-12-12T07:07:08Z","timestamp":1733987228000},"page":"433-441","source":"Crossref","is-referenced-by-count":1,"title":["Research on collision detection method and response strategy for Delta robots"],"prefix":"10.1108","volume":"52","author":[{"given":"Jiangping","family":"Mei","sequence":"first","affiliation":[{"name":"Tianjin University Key Laboratory of the Ministry of Education on Mechanism Theory and Equipment Design, , Tianjin,","place":["China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Puxuan","family":"Ning","sequence":"additional","affiliation":[{"name":"Tianjin University Key Laboratory of the Ministry of Education on Mechanism Theory and Equipment Design, , 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