Modular Robot Arm Design for Physical Human-Robot Interaction

2013 ◽  
Author(s):  
Ty Tremblay ◽  
Taskin Padir
Keyword(s):  
Human Robot Interaction ◽  
Robot Arm ◽  
Modular Robot ◽  
Robot Interaction

scholarly journals Symmetric Evaluation of Multimodal Human–Robot Interaction with Gaze and Standard Control

Symmetry ◽  
2018 ◽  
Vol 10 (12) ◽  
pp. 680
Author(s):  
Ethan Jones ◽  
Winyu Chinthammit ◽  
Weidong Huang ◽  
Ulrich Engelke ◽  
Christopher Lueg
Keyword(s):  
Eye Gaze ◽  
Target Selection ◽  
Human Robot Interaction ◽  
Gaze Control ◽  
Robot Arm ◽  
Spatial Accuracy ◽  
Robot Interaction ◽  
The Third ◽  
Robot Arms ◽  
Chess Piece

Control of robot arms is often required in engineering and can be performed by using different methods. This study examined and symmetrically compared the use of a controller, eye gaze tracker and a combination thereof in a multimodal setup for control of a robot arm. Tasks of different complexities were defined and twenty participants completed an experiment using these interaction modalities to solve the tasks. More specifically, there were three tasks: the first was to navigate a chess piece from a square to another pre-specified square; the second was the same as the first task, but required more moves to complete; and the third task was to move multiple pieces to reach a solution to a pre-defined arrangement of the pieces. Further, while gaze control has the potential to be more intuitive than a hand controller, it suffers from limitations with regard to spatial accuracy and target selection. The multimodal setup aimed to mitigate the weaknesses of the eye gaze tracker, creating a superior system without simply relying on the controller. The experiment shows that the multimodal setup improves performance over the eye gaze tracker alone ( p < 0.05 ) and was competitive with the controller only setup, although did not outperform it ( p > 0.05 ).

scholarly journals Modelling and Control of a 2-DOF Robot Arm with Elastic Joints for Safe Human-Robot Interaction

2021 ◽  
Vol 8 ◽  
Author(s):  
Hua Minh Tuan ◽  
Filippo Sanfilippo ◽  
Nguyen Vinh Hao
Keyword(s):  
Control Algorithm ◽  
Position Control ◽  
Low Cost ◽  
Dynamic Environment ◽  
Human Robot Interaction ◽  
Robot Arm ◽  
Control Loop ◽  
Robot Interaction ◽  
Elastic Joint ◽  
Elastic Joints

Collaborative robots (or cobots) are robots that can safely work together or interact with humans in a common space. They gradually become noticeable nowadays. Compliant actuators are very relevant for the design of cobots. This type of actuation scheme mitigates the damage caused by unexpected collision. Therefore, elastic joints are considered to outperform rigid joints when operating in a dynamic environment. However, most of the available elastic robots are relatively costly or difficult to construct. To give researchers a solution that is inexpensive, easily customisable, and fast to fabricate, a newly-designed low-cost, and open-source design of an elastic joint is presented in this work. Based on the newly design elastic joint, a highly-compliant multi-purpose 2-DOF robot arm for safe human-robot interaction is also introduced. The mechanical design of the robot and a position control algorithm are presented. The mechanical prototype is 3D-printed. The control algorithm is a two loops control scheme. In particular, the inner control loop is designed as a model reference adaptive controller (MRAC) to deal with uncertainties in the system parameters, while the outer control loop utilises a fuzzy proportional-integral controller to reduce the effect of external disturbances on the load. The control algorithm is first validated in simulation. Then the effectiveness of the controller is also proven by experiments on the mechanical prototype.

scholarly journals Robotic affective abilities

2019 ◽  
Vol 8 (1) ◽  
pp. 34-44
Author(s):  
Maike Klein
Keyword(s):  
Computational Models ◽  
Human Robot Interaction ◽  
Popular Media ◽  
Robot Arm ◽  
Robot Interaction ◽  
Human Machine Interaction ◽  
Relational Approach ◽  
Emotion Theory ◽  
Machine Interaction ◽  
Theoretical Issues

Within both popular media and (some) scientific contexts, affective and ‘emotional’ machines are assumed to already exist. The aim of this paper is to draw attention to some of the key conceptual and theoretical issues raised by the ostensible affectivity. My investigation starts with three robotic encounters: a robot arm, the first (according to media) ‘emotional’ robot, Pepper, and Mako, a robotic cat. To make sense of affectivity in these encounters, I discuss emotion theoretical implications for affectivity in human-machine-interaction. Which theories have been implemented in the creation of the encountered robots? Being aware that in any given robot, there is no strict implementation of one single emotion theory, I will focus on two commonly used emotion theories: Russell and Mehrabian’s Three-Factor Theory of Emotion (the computational models derived from that theory are known as PAD models) and Ekman’s Basic Emotion Theory. An alternative way to approach affectivity in artificial systems is the Relational Approach of Damiano et al. which emphasizes human-robot-interaction in social robotics. In considering this alternative I also raise questions about the possibility of affectivity in robot-robot-relations.

scholarly journals Improving HRI with Force Sensing

Machines ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 15
Author(s):  
Akiyoshi Hayashi ◽  
Liz Katherine Rincon-Ardila ◽  
Gentiane Venture
Keyword(s):  
Machine Learning ◽  
Human Robot Interaction ◽  
Force Sensing ◽  
Robot Arm ◽  
Human Communication ◽  
Robot Interaction ◽  
Touch Gestures ◽  
The Future ◽  
Important Field

In the future, in a society where robots and humans live together, HRI is an important field of research. While most human–robot-interaction (HRI) studies focus on appearance and dialogue, touch-communication has not been the focus of many studies despite the importance of its role in human–human communication. This paper investigates how and where humans touch an inorganic non-zoomorphic robot arm. Based on these results, we install touch sensors on the robot arm and conduct experiments to collect data of users’ impressions towards the robot when touching it. Our results suggest two main things. First, the touch gestures were collected with two sensors, and the collected data can be analyzed using machine learning to classify the gestures. Second, communication between humans and robots using touch can improve the user’s impression of the robots.

scholarly journals Compliance Control and Human–Robot Interaction: Part II — Experimental Examples

2014 ◽  
Vol 11 (03) ◽  
pp. 1430002 ◽  
Author(s):  
Said G. Khan ◽  
Guido Herrmann ◽  
Alexander Lenz ◽  
Mubarak Al Grafi ◽  
Tony Pipe ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Adaptive Controller ◽  
Human Robot Interaction ◽  
Joint Torque ◽  
Robot Arm ◽  
Compliance Control ◽  
Robot Interaction ◽  
Model Free ◽  
Speech Interface

Compliance control is highly relevant to human safety in human–robot interaction (HRI). This paper presents multi-dimensional compliance control of a humanoid robot arm. A dynamic model-free adaptive controller with an anti-windup compensator is implemented on four degrees of freedom (DOF) of a humanoid robot arm. The paper is aimed to compliment the associated review paper on compliance control. This is a model reference adaptive compliance scheme which employs end-effector forces (measured via joint torque sensors) as a feedback. The robot's body-own torques are separated from external torques via a simple but effective algorithm. In addition, an experiment of physical human robot interaction is conducted employing the above mentioned adaptive compliance control along with a speech interface. The experiment is focused on passing an object (a cup) between a human and a robot. Compliance is providing an immediate layer of safety for this HRI scenario by avoiding pushing, pulling or clamping and minimizing the effect of collisions with the environment.

DESIGN, CONTROL AND EVALUATION OF A WHOLE-SENSITIVE ROBOT ARM FOR PHYSICAL HUMAN-ROBOT INTERACTION

2009 ◽  
Vol 06 (04) ◽  
pp. 699-725 ◽  
Author(s):  
DZMITRY TSETSERUKOU ◽  
NAOKI KAWAKAMI ◽  
SUSUMU TACHI
Keyword(s):  
High Performance ◽  
Design Procedure ◽  
Human Robot Interaction ◽  
Experimental Results ◽  
Physical Interaction ◽  
Robot Arm ◽  
Robot Interaction ◽  
Active Compliance ◽  
And Control ◽  
Damping Of Vibrations

The paper focuses on design and control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment. When the contact of the robot arm with an object occurs, local admittance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipulator can safely interact with an unstructured environment. The detailed design procedure of the 4-DOF robot arm and optical torque sensors is described in the paper. The experimental results of joint admittance control revealed the feasibility of the proposed approach to provide safe interaction of entire structure of robot arm with a person. The control system with load angle position feedback and lead compensator is proposed to improve dynamic behavior of flexible joint arm. The experimental results show high performance of the developed controller in terms of successful damping of vibrations.

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