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 Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment

2021 ◽  
Author(s):  
Yiwei Liu ◽  
Shipeng Cui ◽  
Yongjun Sun
Keyword(s):  
Modular Design ◽  
Mechanical Design ◽  
Bending Moment ◽  
Variable Stiffness ◽  
Fast Response ◽  
Human Robot Interaction ◽  
Asymmetric Structure ◽  
Robot Interaction ◽  
Collaborative Robotics ◽  
Variable Stiffness Actuator

AbstractThe safety of human-robot interaction is an essential requirement for designing collaborative robotics. Thus, this paper aims to design a novel variable stiffness actuator (VSA) that can provide safer physical human-robot interaction for collaborative robotics. VSA follows the idea of modular design, mainly including a variable stiffness module and a drive module. The variable stiffness module transmits the motion from the drive module in a roundabout manner, making the modularization of VSA possible. As the key component of the variable stiffness module, a stiffness adjustment mechanism with a symmetrical structure is applied to change the positions of a pair of pivots in two levers linearly and simultaneously, which can eliminate the additional bending moment caused by the asymmetric structure. The design of the double-deck grooves in the lever allows the pivot to move freely in the groove, avoiding the geometric constraint between the parts. Consequently, the VSA stiffness can change from zero to infinity as the pivot moves from one end of the groove to the other. To facilitate building a manipulator in the future, an expandable electrical system with a distributed structure is also proposed. Stiffness calibration and control experiments are performed to evaluate the physical performance of the designed VSA. Experiment results show that the VSA stiffness is close to the theoretical design stiffness. Furthermore, the VSA with a proportional-derivative feedback plus feedforward controller exhibits a fast response for stiffness regulation and a good performance for position tracking.

Mechanical Design of a Low-Impedance 6-Degree-of-Freedom Displacement Sensor for Intuitive Physical Human-Robot Interaction

2020 ◽  
pp. 1-15
Author(s):  
Gabriel Boucher ◽  
Thierry Laliberte ◽  
Clement Gosselin
Keyword(s):  
Mechanical Design ◽  
Human Robot Interaction ◽  
Degree Of Freedom ◽  
Displacement Sensor ◽  
Robot Interaction ◽  
Serial Robot ◽  
Kinematic Sensitivity ◽  
Impedance Sensor ◽  
Forward Kinematic ◽  
Six Degree Of Freedom

Abstract This paper presents the mechanical design of a six-degree-of-freedom low-impedance displacement sensor. The sensor is mounted around a link of a serial robot and used as an interface for physical human-robot interaction. The motivation for the use of a low-impedance sensor is first discussed. The mechanical design of each of the elastic components of the sensor is then presented. The kinematic architecture of the mechanism is introduced and the inverse and forward kinematic problems are solved. The kinematic sensitivity is then used to characterize the accuracy of the mechanism. Finally, the design of a prototype is presented and experimental results are provided.

Mechanical Design and Evaluation of a Novel Knee-Ankle-Foot Robot for Rehabilitation

2015 ◽  
Author(s):  
Gong Chen ◽  
Zhao Guo ◽  
Haoyong Yu
Keyword(s):  
Mechanical Design ◽  
Gait Training ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Gait Patterns ◽  
Gait Biomechanics ◽  
Leg Muscles ◽  
In Series ◽  
Translational Spring ◽  
Selection Of

This paper presents the mechanical design and evaluation of a knee-ankle-foot robot, which is compact, modular, and portable for stroke patients to carry out overground gait training at outpatient and home settings. The robot is driven by a novel series elastic actuator (SEA) for safe human-robot interaction. The SEA employs one soft translational spring in series with a stiff torsion spring to achieve high intrinsic compliance and the capacity of providing peak force. The robotic joint mechanism and the selection of the actuator springs are optimized based on gait biomechanics to achieve portability and capability. The robot demonstrated stable and accuracy force control in experiments conducted on healthy subjects with overground walking. Major leg muscles of the subjects showed reduced level of activations (Electromyography, EMG) while maintaining normal gait patterns with robotic assistances, indicating the robot’s capability of providing effective gait assistance.

scholarly journals MECHANICAL DESIGN OF THE HUGGABLE ROBOT PROBO

2011 ◽  
Vol 08 (03) ◽  
pp. 481-511 ◽  
Author(s):  
KRISTOF GORIS ◽  
JELLE SALDIEN ◽  
BRAM VANDERBORGHT ◽  
DIRK LEFEBER
Keyword(s):  
Facial Expressions ◽  
High Precision ◽  
Mechanical Design ◽  
Human Robot Interaction ◽  
Nonverbal Cues ◽  
Special Focus ◽  
Robot Interaction ◽  
Communicative Skills ◽  
Face To Face ◽  
Safety Aspects

This paper reports on the mechanical design of the huggable robot Probo. Its intentions include human–robot interaction (HRI), both physical and cognitive, with a special focus on children. Since most of the communication passes through nonverbal cues and since people rely on face-to-face communication, the focus of Probo's communicative skills lies initially on facial expressions. The robot has 20 high-precision motors in its head and body. They are used to actuate the ears, eyebrows, eyelids, eyes, trunk, mouth, and neck. To build safety aspects intrinsically in the robot's hardware, all the motors are linked with flexible components. In case of a collision, the robot will be elastic and safety will be ensured. The mechanics of Probo are covered by protecting plastic shells, foam, and soft fur. This gives Probo's animal-like look and makes the robot huggable.

Design and Validation of a Talking Face for the iCub

2015 ◽  
Vol 12 (03) ◽  
pp. 1550026 ◽  
Author(s):  
Alberto Parmiggiani ◽  
Marco Randazzo ◽  
Marco Maggiali ◽  
Giorgio Metta ◽  
Frederic Elisei ◽  
...  
Keyword(s):  
Speech Intelligibility ◽  
Mechanical Design ◽  
Humanoid Robots ◽  
Human Robot Interaction ◽  
Mcgurk Effect ◽  
Elastic Tissue ◽  
Robot Interaction ◽  
Control Scheme ◽  
Recent Developments ◽  
Talking Face

Recent developments in human–robot interaction show how the ability to communicate with people in a natural way is of great importance for artificial agents. The implementation of facial expressions has been found to significantly increase the interaction capabilities of humanoid robots. For speech, displaying a correct articulation with sound is mandatory to avoid audiovisual illusions like the McGurk effect (leading to comprehension errors) as well as to enhance the intelligibility in noisy conditions. This work describes the design, construction and testing of an animatronic talking face developed for the iCub robot. This talking head has an articulated jaw and four independent lip movements actuated by five motors. It is covered by a specially designed elastic tissue cover whose hemlines at the lips are attached to the motors via connecting linkages. The mechanical design and the control scheme have been evaluated by speech intelligibility in noise (SPIN) perceptual tests that demonstrate an absolute 10% intelligibility gain provided by the jaw and lip movements over the audio-only display.

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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