Virtual Adjustable Joint Stiffness Toward a Safer Human/Robot Interaction

Author(s):  
Joseph Diab ◽  
Aïcha Fonte ◽  
Cyril Novales ◽  
Gérard Poisson
Robotica ◽  
2020 ◽  
pp. 1-15
Author(s):  
Po-Jen Cheng ◽  
Hsiang-Yuan Ting ◽  
Han-Pang Huang

SUMMARY The variable stiffness actuator (VSA) is helpful to realize the post-collision safety strategies for safe human–robot interaction.1 The stiffness of the robot will be reduced to protect the user from injury when the collision between the robot and human occurs. However, The VSA has a mechanism limit constraint that can cause harm to users even if the stiffness is minimized. Accordingly, in this article, a concept combining danger index and robust fault detection and isolation is presented and applied to active–passive variable stiffness elastic actuator (APVSEA). APVSEA can actively change joint stiffness with the change of danger index. Experimental results show that this concept can effectively confirm the fault mode and provide additional protection measures to ensure the safety of users when the joint stiffness has been adjusted to the minimum.


2009 ◽  
Author(s):  
Matthew S. Prewett ◽  
Kristin N. Saboe ◽  
Ryan C. Johnson ◽  
Michael D. Coovert ◽  
Linda R. Elliott

2010 ◽  
Author(s):  
Eleanore Edson ◽  
Judith Lytle ◽  
Thomas McKenna

2020 ◽  
Author(s):  
Agnieszka Wykowska ◽  
Jairo Pérez-Osorio ◽  
Stefan Kopp

This booklet is a collection of the position statements accepted for the HRI’20 conference workshop “Social Cognition for HRI: Exploring the relationship between mindreading and social attunement in human-robot interaction” (Wykowska, Perez-Osorio & Kopp, 2020). Unfortunately, due to the rapid unfolding of the novel coronavirus at the beginning of the present year, the conference and consequently our workshop, were canceled. On the light of these events, we decided to put together the positions statements accepted for the workshop. The contributions collected in these pages highlight the role of attribution of mental states to artificial agents in human-robot interaction, and precisely the quality and presence of social attunement mechanisms that are known to make human interaction smooth, efficient, and robust. These papers also accentuate the importance of the multidisciplinary approach to advance the understanding of the factors and the consequences of social interactions with artificial agents.


2019 ◽  
Author(s):  
Cinzia Di Dio ◽  
Federico Manzi ◽  
Giulia Peretti ◽  
Angelo Cangelosi ◽  
Paul L. Harris ◽  
...  

Studying trust within human-robot interaction is of great importance given the social relevance of robotic agents in a variety of contexts. We investigated the acquisition, loss and restoration of trust when preschool and school-age children played with either a human or a humanoid robot in-vivo. The relationship between trust and the quality of attachment relationships, Theory of Mind, and executive function skills was also investigated. No differences were found in children’s trust in the play-partner as a function of agency (human or robot). Nevertheless, 3-years-olds showed a trend toward trusting the human more than the robot, while 7-years-olds displayed the reverse behavioral pattern, thus highlighting the developing interplay between affective and cognitive correlates of trust.


Author(s):  
José Novoa ◽  
Jorge Wuth ◽  
Juan Pablo Escudero ◽  
Josué Fredes ◽  
Rodrigo Mahu ◽  
...  

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