# 面向连续物理人机交互的亚毫秒反射

> 原文链接：https://robotics.hellobike.com/papers/2026-10-15-2610-21913
> 频道：papers | 更新日期：2026-10-15 | 标签：arxiv, cs.RO
> 核心摘要：针对连续物理人机交互中的控制切换延迟，提出开源ROS 2兼容反射引擎，并在Franka机械臂上验证。

# 面向连续物理人机交互的亚毫秒反射

::: v-pre
> 原文链接：[Sub-Millisecond Reflexes for Continuous Physical Human-Robot Interaction](https://arxiv.org/abs/2610.21913)（arXiv 2610.21913 · 发布日期：2026-10-15）

**Sub-Millisecond Reflexes for Continuous Physical Human-Robot Interaction**

针对连续物理人机交互中的控制切换延迟，提出开源ROS 2兼容反射引擎，并在Franka机械臂上验证。

## 核心要点

- 连续物理人机交互需要机器人不中断任务地快速调整控制行为。
- 方法基于增强的ROS 2兼容多模态控制器，实现确定性控制模态切换。
- 集成反射行为以缓解接触危险和运动学限位违规，并消除运行时中间件开销。
- Franka机械臂实验显示切换延迟低于0.1 ms，且多阶段操作任务执行时间与轨迹冲击降低。

**验证范围与局限**：验证范围为Franka Robotics机械臂实验，包括安全关键事件和多阶段操作任务。

## 英文摘要 (Abstract)

Continuous physical human-robot interaction requires robots to rapidly adapt their control behaviour without interrupting task execution. However, existing ROS 2 control architectures rely on stop-to-switch mechanisms that introduce substantial delays and interrupt execution. We present an open-source, sub-millisecond reflex engine based on an enhanced ROS 2-compatible multimode controller that enables deterministic switching between control modalities and integrates reflex behaviours for mitigating contact hazards and kinematic limit violations. Experiments on a Franka Robotics manipulator demonstrate switching delays below 0.1 ms, more than four orders of magnitude faster than conventional ros2_control, while maintaining continuous operation during safety-critical events. In a multi-stage manipulation task, the proposed framework reduced execution time by 3.5% and peak trajectory jerk by more than threefold. By eliminating runtime middleware overhead, controller transitions are implemented as lock-free pointer operations, enabling reflex-level responsiveness within an open-source robotics framework.

作者：Jon Škerlj, Sami Haddadin
:::

## 原始参考来源 (Sources)

- [arXiv 2610.21913：Sub-Millisecond Reflexes for Continuous Physical Human-Robot Interaction](https://arxiv.org/abs/2610.21913)