Design & characterization of a bio-inspired 3-DOF Tactile/Force sensor and implementation on a 3-DOF decoupled parallel mechanism for human-robot interaction purposes

Mechatronics ◽  
2020 ◽  
Vol 66 ◽  
pp. 102325 ◽  
Author(s):  
Amin Hamed ◽  
Mehdi Tale Masouleh ◽  
Ahmad Kalhor
Keyword(s):  
Parallel Mechanism ◽  
Force Sensor ◽  
Human Robot Interaction ◽  
Robot Interaction

Intuitive Physical Human-Robot Interaction: Using a Passive Parallel Mechanism

2018 ◽  
Vol 25 (2) ◽  
pp. 28-38 ◽  
Author(s):  
Nicolas Badeau ◽  
Clement Gosselin ◽  
Simon Foucault ◽  
Thierry Laliberte ◽  
Muhammad E. Abdallah
Keyword(s):  
Parallel Mechanism ◽  
Human Robot Interaction ◽  
Robot Interaction

Minimalist mechanical design and characterization of an Android for Human Robot Interaction

2017 ◽  
Author(s):  
Prashanth N ◽  
Karthik Ravi K M ◽  
Prashanth Kumar Reddy ◽  
Sunil Kumar H S ◽  
Jharna Majumdar
Keyword(s):  
Mechanical Design ◽  
Human Robot Interaction ◽  
Robot Interaction

scholarly journals Multi-Axis Force Sensor for Human–Robot Interaction Sensing in a Rehabilitation Robotic Device

Sensors ◽  
2017 ◽  
Vol 17 (6) ◽  
pp. 1294 ◽  
Author(s):  
Victor Grosu ◽  
Svetlana Grosu ◽  
Bram Vanderborght ◽  
Dirk Lefeber ◽  
Carlos Rodriguez-Guerrero
Keyword(s):  
Force Sensor ◽  
Human Robot Interaction ◽  
Robotic Device ◽  
Robot Interaction ◽  
Rehabilitation Robotic

scholarly journals Towards collaborative drilling with a cobot using admittance controller

2020 ◽  
pp. 014233122093464
Author(s):  
Yusuf Aydin ◽  
Doganay Sirintuna ◽  
Cagatay Basdogan
Keyword(s):  
Augmented Reality ◽  
Task Performance ◽  
Vital Role ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Allowable Range ◽  
The Stability ◽  
Near Future ◽  
Collaborative Robot

In the near future, collaborative robots (cobots) are expected to play a vital role in the manufacturing and automation sectors. It is predicted that workers will work side by side in collaboration with cobots to surpass fully automated factories. In this regard, physical human-robot interaction (pHRI) aims to develop natural communication between the partners to bring speed, flexibility, and ergonomics to the execution of complex manufacturing tasks. One challenge in pHRI is to design an optimal interaction controller to balance the limitations introduced by the contradicting nature of transparency and stability requirements. In this paper, a general methodology to design an admittance controller for a pHRI system is developed by considering the stability and transparency objectives. In our approach, collaborative robot constrains the movement of human operator to help with a pHRI task while an augmented reality (AR) interface informs the operator about its phases. To this end, dynamical characterization of the collaborative robot (LBR IIWA 7 R800, KUKA Inc.) is presented first. Then, the stability and transparency analyses for our pHRI task involving collaborative drilling with this robot are reported. A range of allowable parameters for the admittance controller is determined by superimposing the stability and transparency graphs. Finally, three different sets of parameters are selected from the allowable range and the effect of admittance controllers utilizing these parameter sets on the task performance is investigated.

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