Download or read book Compliant Robotic Arms for Inherently Safe Physical Human robot Interaction written by Yu She (Ph. D. in mechanical engineering) and published by . This book was released on 2018 with total page 166 pages. Available in PDF, EPUB and Kindle. Book excerpt: Static and dynamic models of the CLs are derived and verified by finite element analysis (FEA). To achieve a high efficiency and accuracy of the dynamic model, a mass-parameter optimization framework is developed for the pseudo-rigid-body (PRB) model. The proposed optimized PRB model can rapidly and precisely predict statics, kinematics, and dynamics for compliant mechanisms. A pHRI platform is then studied from the perspective of both theoretical model and experimental setup. The model provides general guidelines for selecting design parameters for the pHRI platform to achieve desired requirements, and the experimental platform validates the model and demonstrates that the CL design can increase safety for pHRI. This study explores the CL design with variable stiffness for safe pHRI, and expands the research arena with respect to human-safe robot design. The proposed CL designs hold the advantages of larger bandwidth and fewer injury consequences than those of the CJ designs. The developed dynamic model (optimized PRB model) of the CL design has great advantages on economic calculation. The grandly shortened computation of the dynamics model is beneficial for real-time control. The whole pHRI model can be used for evaluations of selected design parameters and provides guidance to customize designs for critical requirements.

Download or read book Safe and Effective Physical Human robot Interaction written by M. E. Giannaccini and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Physical Human robot Interaction with Lightweight Elastic Tendon Driven Robotic Arm written by Thomas Lens and published by . This book was released on 2013 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Human robot Interaction written by Michael A. Goodrich and published by Now Publishers Inc. This book was released on 2007 with total page 89 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presents a unified treatment of HRI-related issues, identifies key themes, and discusses challenge problems that are likely to shape the field in the near future. The survey includes research results from a cross section of the universities, government efforts, industry labs, and countries that contribute to HRI.

Download or read book A New Actuation Approach for Bio inspired Human friendly Robots written by Dong Jun Shin and published by Stanford University. This book was released on 2011 with total page 171 pages. Available in PDF, EPUB and Kindle. Book excerpt: The increasing demand for physical interaction between humans and robots has led to an interest in robots whose behavior is guaranteed to be safe when they are in close proximity with humans. However, attaining sufficiently high levels of performance while ensuring safety creates formidable challenges in mechanical design, actuation, sensing, and control. To promote safety without compromising performance, a new actuation concept, referred to as hybrid actuation, has been developed. Since low impedance output at high frequencies is essential for robot safety, while optimal passive stiffness is needed for robot performance, the new actuation approach employs a pneumatic artificial muscle as a macro actuator to provide low-frequency torques. Artificial pneumatic muscles provide high force-to-weight ratio and inherent compliance, both of which allow for low impedance actuation. To compensate for the slow and non-linear dynamics of pneumatic actuation, a small electromagnetic actuator collocated at the robot's joint is employed as a mini actuator, which provides high mechanical bandwidth for high performance without increasing the inertia and size of the manipulator. To achieve the appropriate balance between safety and performance, design methodologies were developed that optimally determine key design parameters such as the required mini motor torque capacity, the joint stiffness introduced by an antagonistic pair of muscles, and the pulley radius. Using a testbed, referred to as the Stanford Safety Robot (S2rho), the hybrid actuation was evaluated for position tracking performance, force tracking performance, and impact behavior. The experimental results demonstrate that by significantly improving control performance with the hybrid actuation over performance with pneumatic muscles alone, while reducing the effective inertia significantly, the competing design objectives of safety and performance can be successfully integrated into a single robotic manipulator. As an extension of the hybrid actuation concept, the new design of dual four-degree-of-freedom robotic arms with torso is presented and detailed descriptions of the design are included.

Download or read book Biologically Inspired Control of Humanoid Robot Arms written by Adam Spiers and published by Springer. This book was released on 2016-05-19 with total page 286 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniques investigated in this book. The method includes attractive features such as the decoupling of motion into task and posture components. Various developments are made in each of these elements. Simple cost functions inspired by biomechanical “effort” and “discomfort” generate realistic posture motion. Sliding-mode techniques overcome robustness shortcomings for practical implementation. Arm compliance is achieved via a method of model-free adaptive control that also deals with actuator saturation via anti-windup compensation. A neural-network-centered learning-by-observation scheme generates new task motions, based on motion-capture data recorded from human volunteers. In other parts of the book, motion capture is used to test theories of human movement. All developed controllers are applied to the reaching motion of a humanoid robot arm and are demonstrated to be practically realisable. This book is designed to be of interest to those wishing to achieve dynamics-based human-like robot-arm motion in academic research, advanced study or certain industrial environments. The book provides motivations, extensive reviews, research results and detailed explanations. It is not only suited to practising control engineers, but also applicable for general roboticists who wish to develop control systems expertise in this area.

Download or read book Service Robotics written by and published by BoD – Books on Demand. This book was released on 2020-11-26 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt: We feel the impact of robots on our lives more and more every day. Service robots constitute the broadest and the most exciting applications in this field, such as; personal care and assistance, agriculture, logistics, mobility, medical, and defense-oriented robots. Since service robotics contains many different types of robots, the variety of problems to be solved is also large. Many popular robotic problems, ranging from mechanism design to simultaneous localization and mapping (SLAM), from motion planning to system security, can be examined in this context. You will find various examples and solutions for this critical area of robotics in this book. We hope that researchers interested in the subject will benefit from this book.

Download or read book Towards Safe Robots written by Sami Haddadin and published by Springer. This book was released on 2013-09-12 with total page 368 pages. Available in PDF, EPUB and Kindle. Book excerpt: The vision of seamless human-robot interaction in our everyday life that allows for tight cooperation between human and robot has not become reality yet. However, the recent increase in technology maturity finally made it possible to realize systems of high integration, advanced sensorial capabilities and enhanced power to cross this barrier and merge living spaces of humans and robot workspaces to at least a certain extent. Together with the increasing industrial effort to realize first commercial service robotics products this makes it necessary to properly address one of the most fundamental questions of Human-Robot Interaction: How to ensure safety in human-robot coexistence? In this authoritative monograph, the essential question about the necessary requirements for a safe robot is addressed in depth and from various perspectives. The approach taken in this book focuses on the biomechanical level of injury assessment, addresses the physical evaluation of robot-human impacts, and isolates the major factors that cause human injuries. This assessment is the basis for the design and exploration of various measures to improve safety in human-robot interaction. They range from control schemes for collision detection, reflex reaction, and avoidance to the investigation of novel joint designs that equip robots with fundamentally new capabilities. By the depth of its analysis and exceptionally salient experimental work, this monograph offers one of the most comprehensive treatments of the safety challenge in the field.

Download or read book Human Robot Interaction written by Gholamreza Anbarjafari and published by BoD – Books on Demand. This book was released on 2018-07-04 with total page 186 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book takes the vocal and visual modalities and human-robot interaction applications into account by considering three main aspects, namely, social and affective robotics, robot navigation, and risk event recognition. This book can be a very good starting point for the scientists who are about to start their research work in the field of human-robot interaction.

Download or read book Towards a Safe and Responsive Control Framework for Human centered Robots written by Binghan He and published by . This book was released on 2021 with total page 362 pages. Available in PDF, EPUB and Kindle. Book excerpt: Human-centered robots are a specific kind of service robot, which interact with humans physically or cognitively and help humans with tasks in uncertain environments. They can be humanoid robots, exoskeletons, or manipulators and mobile platforms that provide us good services. However, human-centered robots are still not perfect enough for us to use nowadays. On the one hand, human-centered robots are still slow and inefficient for their tasks because the human inputs and dynamics that they react to are uncertain, immeasurable, or even completely unknown. On the other hand, human-centered robots face much more complicated safety requirements than other kinds of robots because humans are dynamic and vulnerable during physical human-robot interaction. To resolve these issues of human-centered robots, the work in this dissertation explores new models for reducing human uncertainty and new control algorithms for improving safety warranty. The first half of this dissertation introduces a complex stiffness model for describing the uncertain human impedance. The discovery of this new model is motivated to explain the observation of a consistent damping ratio of a human versus different environmental dynamics. It replaces the linear damping term in a conventional mass-spring-damping model with a hysteretic damping term, an imaginary value in the frequency domain. Because of the correlation between the stiffness term and the newly discovered hysteretic damping term in the complex stiffness model, we can significantly reduce the human impedance uncertainty. Based on the complex stiffness model, we can adopt nonlinear control strategies for improving the responsiveness and the human-friendliness of human-centered robots. The second half of this dissertation introduces the concept of a barrier pair, which consists of a barrier function and a controller for the safety verification and warranty of a human-centered robot. We obtain a barrier pair by solving an optimization problem subject to a series of linear matrix inequalities representing the state-space, input, and stability constraints of a human-centered robot. By incorporating sampling-based methods into the synthesis of barrier pairs, human-centered robots can guarantee safe operation with non-convex state-space constraints. The sampling-based barrier pair method helps us construct a control framework of human-robot shared autonomy. A human-centered robot in this control framework uses an inference of a human's objective to figure out how to assist the human and prevent the human from potential accidents

Download or read book Advanced Technologies in Modern Robotic Applications written by Chenguang Yang and published by Springer. This book was released on 2016-05-18 with total page 428 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents in a systematic manner the advanced technologies used for various modern robot applications. By bringing fresh ideas, new concepts, novel methods and tools into robot control, robot vision, human robot interaction, teleoperation of robot and multiple robots system, we are to provide a state-of-the-art and comprehensive treatment of the advanced technologies for a wide range of robotic applications. Particularly, we focus on the topics of advanced control and obstacle avoidance techniques for robot to deal with unknown perturbations, of visual servoing techniques which enable robot to autonomously operate in a dynamic environment, and of advanced techniques involved in human robot interaction. The book is primarily intended for researchers and engineers in the robotic and control community. It can also serve as complementary reading for robotics at the both graduate and undergraduate levels.

Download or read book Computational Human Robot Interaction written by Andrea Thomaz and published by . This book was released on 2016-12-20 with total page 140 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computational Human-Robot Interaction provides the reader with a systematic overview of the field of Human-Robot Interaction over the past decade, with a focus on the computational frameworks, algorithms, techniques, and models currently used to enable robots to interact with humans.

Download or read book Geometric Synthesis of Force and Torque Limiting Modules for Serial Robot Safety written by Meiying Zhang and published by . This book was released on 2015 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Physical human-robot interaction is a desirable paradigm for many applications where the strength and endurance of robots can be combined with the adaptability and judgement of human beings. However, physical interaction between humans and robots leads to safety concerns. Robotics standards state that, as a sufficient condition for allowing human-robot collaboration, the static force and the dynamic power at the tool centre point must not exceed 150 (N) and 80 (W), respectively. This dissertation proposes a synthesis approach to build intrinsically safe serial robotic mechanisms for applications in human-robot cooperation. In this concept, a number of passive torque and force limiters with constant force thresholds are included in the structure of a serial manipulator in order to limit the feasible forces at the tool centre point of the end-effector. Once the torque/force at any one of the limiters exceeds the prescribed maximum threshold, the corresponding clutch is triggered, thus protecting humans from injury. It is well known that the relationship between the joint torques/forces and the achievable end-effector forces is configuration dependent. In order to alleviate this effect, i.e., the variation of the joint to Cartesian force mapping, it is proposed to include more clutches than actuated joints. Hence, the design of isotropic force modules is addressed to produce proper force capabilities while ensuring safety. Several planar isotropic force modules are first proposed and used to analyze the force capabilities of two-degree-of-freedom planar serial robots. In addition to modelling the contact forces at the end-effector, the forces that can be applied by the robot to its environment when contact is taking place elsewhere along its links are also analyzed as well as the power of potential collisions. Examples of planar serial manipulator architectures and their static analysis are given. Then, the concept of isotropic force space is extended from planar modules to spatial modules. Possible architectures of spatial isotropic modules are proposed and the conditions required to ensure isotropy of the forces at the end-effector are derived. Three-degree-of-freedom spatial manipulators including a proposed spatial isotropic module are designed to demonstrate the effectiveness of the concept, and the maximum contact forces along the links are then studied. Force and torque limiter are distributed along the structure of the manipulator in order to ensure that the forces applied at any point of contact along the links are bounded. A power analysis is also presented in order to support the results obtained. Finally, the implementation of the proposed approach in a real application is addressed. Two types of passive clutch mechanisms are designed. Both are compact and produce a bi-directional limiting behaviour using a single extension spring. One is referred to as the no-return limiter. The mechanism does not return to its original configuration even if the external load is removed since its resisting torque drops rapidly once the limiter is triggered. The other one is the elastic return limiter, which can bring the robot links to their original positions after an applied excessive force is removed. The proposed architectures can be integrated in the design of robotic links since they are simple and compact. Then, some prototypes equipped with force and torque limiters are built and tested experimentally to illustrate a possible practical implementation of the concept.

Download or read book Robot Force Control written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.

Download or read book Trust in Human Robot Interaction written by Chang S. Nam and published by Academic Press. This book was released on 2020-11-17 with total page 616 pages. Available in PDF, EPUB and Kindle. Book excerpt: Trust in Human-Robot Interaction addresses the gamut of factors that influence trust of robotic systems. The book presents the theory, fundamentals, techniques and diverse applications of the behavioral, cognitive and neural mechanisms of trust in human-robot interaction, covering topics like individual differences, transparency, communication, physical design, privacy and ethics. - Presents a repository of the open questions and challenges in trust in HRI - Includes contributions from many disciplines participating in HRI research, including psychology, neuroscience, sociology, engineering and computer science - Examines human information processing as a foundation for understanding HRI - Details the methods and techniques used to test and quantify trust in HRI

Download or read book Soft Robotics written by Alexander Verl and published by Springer. This book was released on 2015-03-13 with total page 293 pages. Available in PDF, EPUB and Kindle. Book excerpt: The research areas as well as the knowledge gained for the practical use of robots are growing and expanding beyond manufacturing and industrial automation, making inroads in sectors such as health care and terrain sensing, as well as general assistive systems working in close interaction with humans. In a situation like this, it is necessary for future robot systems to become less stiff and more specialized by taking inspiration from the mechanical compliance and versatility found in natural materials and organisms. At present, a new discipline is emerging in this area, called »Soft Robotics«. It particularly challenges the traditional thinking of engineers, as the confluence of technologies, ranging from new materials, sensors, actuators and production techniques to new design tools, will make it possible to create new systems whose structures are almost completely made of soft materials, which bring about entirely new functions and behaviors, similar in many ways to natural systems. These Proceedings focus on four main topics: • Soft Actuators and Control • Soft Interactions • Soft Robot Assistants: Potential and Challenges • Human-centered »Soft Robotics«.

Download or read book Design and Control of a Voice Coil Actuated Robot Arm for Human robot Interaction written by John Michael McBean and published by . This book was released on 2004 with total page 136 pages. Available in PDF, EPUB and Kindle. Book excerpt: The growing field of human-robot interaction (HRI) demands robots that move fluidly, gracefully, compliantly and safely. This thesis describes recent work in the design and evaluation of long-travel voice coil actuators (VCAs) for use in robots intended for interacting with people. The basic advantages and shortcomings of electromagnetic actuators are discussed and evaluated in the context of human-robot interaction, and are compared to alternative actuation technologies. Voice coil actuators have been chosen for their controllability, ease of implementation, geometry, compliance, biomimetic actuation characteristics, safety, quietness, and high power density. Several VCAs were designed, constructed, and tested, and a 4 Degree of Freedom (DOF) robotic arm was built as a test platform for the actuators themselves, and the control systems used to drive them. Several control systems were developed and implemented that, when used with the actuators, enable smooth, fast, life-like motion.