ROBOTIC ARM COLLISION REACTION STRATEGIES FOR SAFE HUMAN–ROBOT INTERACTION WITHOUT TORQUE SENSORS

2019 ◽  
Vol 19 (07) ◽  
pp. 1940034 ◽  
Author(s):  
TIAN XU ◽  
JIZHUANG FAN ◽  
QIANQIAN FANG ◽  
JIE ZHAO ◽  
YANHE ZHU
Keyword(s):  
Collision Detection ◽  
Mechanical Impedance ◽  
Human Robot Interaction ◽  
Robotic Arm ◽  
Physical Interaction ◽  
Human Being ◽  
Robot Interaction ◽  
Motor Torque ◽  
Inertia Matrix ◽  
Generalized Momentum

Three kinds of collision reaction strategies for increasing safety during human and robot interactions without relying on torque sensors are proposed in this paper. In the proposed algorithms, motor torque is estimated by driver current. The generalized momentum observer is used for collision detection, which does not need joints acceleration information and calculates the inverse of the inertia matrix. Three different collision reaction strategies, going away, dragging by hands and mechanical impedance developed in this paper, aim to enhance safety to humans during physical interaction with robots. For verifying the efficiency of the proposed algorithms, experiments are tested between a 1-DOF manipulator system and a human being. At last, the experiments’ results show that the proposed collision reaction algorithms are effective.

A Quasi-Static Model for Studying Physical Interaction Between a Soft Robotic Digit and a Human Finger

2018 ◽  
Author(s):  
Mahdi Haghshenas-Jaryani ◽  
Muthu B. J. Wijesundara
Keyword(s):  
Human Performance ◽  
Theoretical Models ◽  
Element Model ◽  
Human Robot Interaction ◽  
Physical Interaction ◽  
Robotic Hand ◽  
Robot Interaction ◽  
Interaction Forces ◽  
Comparison Of The Results ◽  
Human Finger

This paper presents the development of a framework based on a quasi-statics concept for modeling and analyzing the physical human-robot interaction in soft robotic hand exoskeletons used for rehabilitation and human performance augmentation. This framework provides both forward and inverse quasi-static formulations for the interaction between a soft robotic digit and a human finger which can be used for the calculation of angular motions, interaction forces, actuation torques, and stiffness at human joints. This is achieved by decoupling the dynamics of the soft robotic digit and the human finger with similar interaction forces acting on both sides. The presented theoretical models were validated by a series of numerical simulations based on a finite element model which replicates similar human-robot interaction. The comparison of the results obtained for the angular motion, interaction forces, and the estimated stiffness at the joints indicates the accuracy and effectiveness of the quasi-static models for predicting the human-robot interaction.

scholarly journals Cable Tension Analysis Oriented the Enhanced Stiffness of a 3-DOF Joint Module of a Modular Cable-Driven Human-Like Robotic Arm

2020 ◽  
Vol 10 (24) ◽  
pp. 8871
Author(s):  
Kaisheng Yang ◽  
Guilin Yang ◽  
Chi Zhang ◽  
Chinyin Chen ◽  
Tianjiang Zheng ◽  
...  
Keyword(s):  
Objective Function ◽  
Optimization Model ◽  
Human Robot Interaction ◽  
Robotic Arm ◽  
Robot Interaction ◽  
Cable Tension ◽  
Tension Distribution ◽  
Stiffness Model ◽  
Redundantly Actuated ◽  
Objective Function Values

Inspired by the structure of human arms, a modular cable-driven human-like robotic arm (CHRA) is developed for safe human–robot interaction. Due to the unilateral driving properties of the cables, the CHRA is redundantly actuated and its stiffness can be adjusted by regulating the cable tensions. Since the trajectory of the 3-DOF joint module (3DJM) of the CHRA is a curve on Lie group SO(3), an enhanced stiffness model of the 3DJM is established by the covariant derivative of the load to the displacement on SO(3). In this paper, we focus on analyzing the how cable tension distribution problem oriented the enhanced stiffness of the 3DJM of the CHRA for stiffness adjustment. Due to the complexity of the enhanced stiffness model, it is difficult to solve the cable tensions from the desired stiffness analytically. The problem of stiffness-oriented cable tension distribution (SCTD) is formulated as a nonlinear optimization model. The optimization model is simplified using the symmetry of the enhanced stiffness model, the rank of the Jacobian matrix and the equilibrium equation of the 3DJM. Since the objective function is too complicated to compute the gradient, a method based on the genetic algorithm is proposed for solving this optimization problem, which only utilizes the objective function values. A comprehensive simulation is carried out to validate the effectiveness of the proposed method.

scholarly journals Towards natural handshakes for social robots: human-aware hand grasps using tactile sensors

2018 ◽  
Vol 9 (1) ◽  
pp. 221-234 ◽  
Author(s):  
João Avelino ◽  
Tiago Paulino ◽  
Carlos Cardoso ◽  
Ricardo Nunes ◽  
Plinio Moreno ◽  
...  
Keyword(s):  
Human Subjects ◽  
Tactile Feedback ◽  
Human Robot Interaction ◽  
Physical Interaction ◽  
Tactile Sensors ◽  
Cultural Backgrounds ◽  
Robot Interaction ◽  
Human Interactions ◽  
Hand Grip ◽  
Fundamental Part

Abstract Handshaking is a fundamental part of human physical interaction that is transversal to various cultural backgrounds. It is also a very challenging task in the field of Physical Human-Robot Interaction (pHRI), requiring compliant force control in order to plan the arm’s motion and for a confident, but at the same time pleasant grasp of the human user’s hand. In this paper,we focus on the study of the hand grip strength for comfortable handshakes and perform three sets of physical interaction experiments between twenty human subjects in the first experiment, thirty-five human subjects in the second one, and thirty-eight human subjects in the third one. Tests are made with a social robot whose hands are instrumented with tactile sensors that provide skin-like sensation. From these experiments, we: (i) learn the preferred grip closure according to each user group; (ii) analyze the tactile feedback provided by the sensors for each closure; (iii) develop and evaluate the hand grip controller based on previous data. In addition to the robot-human interactions, we also learn about the robot executed handshake interactions with inanimate objects, in order to detect if it is shaking hands with a human or an inanimate object. This work adds physical human-robot interaction to the repertory of social skills of our robot, fulfilling a demand previously identified by many users of the robot.

Gestures Identification for Myoelectric Based Control of the Robotic Arm

2020 ◽  
Vol 22 (12) ◽  
Author(s):  
Adhau P ◽  
◽  
Kadwane S. G ◽  
Shital Telrandhe ◽  
Rajguru V. S ◽  
...  
Keyword(s):  
Neural Network ◽  
Human Body ◽  
Human Robot Interaction ◽  
Robotic Arm ◽  
Human Hand ◽  
Robot Interaction ◽  
The Neural Network

Human robot interaction have been ever the topic of research to research scholars owing to its importance to help humanity. Robust human interacting robot where commands from Electromyogram (EMG) signals is recently being investigated. This article involves study of motions a system that allows signals recorded directly from a human body and thereafter can be used for control of a small robotic arm. The various gestures are recognized by placing the electrodes or sensors on the human hand. These gestures are then identified by using neural network. The neural network will thus train the signals. The offline control of the arm is done by controlling the motors of the robotic arm.

scholarly journals Humanoid Robot Head Design Based on Uncanny Valley and FACS

2014 ◽  
Vol 2014 ◽  
pp. 1-5 ◽  
Author(s):  
Jizheng Yan ◽  
Zhiliang Wang ◽  
Yan Yan
Keyword(s):  
Intelligent Control ◽  
Humanoid Robot ◽  
Human Robot Interaction ◽  
Human Being ◽  
Uncanny Valley ◽  
Coding System ◽  
Robot Interaction ◽  
Series Of Experiments ◽  
Robot Head ◽  
The Relationship

Emotional robots are always the focus of artificial intelligence (AI), and intelligent control of robot facial expression is a hot research topic. This paper focuses on the design of humanoid robot head, which is divided into three steps to achieve. The first step is to solve the uncanny valley about humanoid robot, to find and avoid the relationship between human being and robot; the second step is to solve the association between human face and robot head; compared with human being and robots, we analyze the similarities and differences and explore the same basis and mechanisms between robot and human analyzing the Facial Action Coding System (FACS), which guides us to achieve humanoid expressions. On the basis of the previous two steps, the third step is to construct a robot head; through a series of experiments we test the robot head, which could show some humanoid expressions; through human-robot interaction, we find people are surprised by the robot head expression and feel happy.

scholarly journals Practical Aspects of Model-Based Collision Detection

2020 ◽  
Vol 7 ◽  
Author(s):  
Shamil Mamedov ◽  
Stanislav Mikhel
Keyword(s):  
Collision Detection ◽  
Model Identification ◽  
Computation Time ◽  
Human Robot Interaction ◽  
Observer Design ◽  
Industrial Robots ◽  
Robot Interaction ◽  
Model Based ◽  
Proprioceptive Sensors ◽  
The Relationship

Recently, with the increased number of robots entering numerous manufacturing fields, a considerable wealth of literature has appeared on the theme of physical human-robot interaction using data from proprioceptive sensors (motor or/and load side encoders). Most of the studies have then the accurate dynamic model of a robot for granted. In practice, however, model identification and observer design proceeds collision detection. To the best of our knowledge, no previous study has systematically investigated each aspect underlying physical human-robot interaction and the relationship between those aspects. In this paper, we bridge this gap by first reviewing the literature on model identification, disturbance estimation and collision detection, and discussing the relationship between the three, then by examining the practical sides of model-based collision detection on a case study conducted on UR10e. We show that the model identification step is critical for accurate collision detection, while the choice of the observer should be mostly based on computation time and the simplicity and flexibility of tuning. It is hoped that this study can serve as a roadmap to equip industrial robots with basic physical human-robot interaction capabilities.

scholarly journals Redefining Safety in Light of Human-Robot Interaction: A Critical Review of Current Standards and Regulations

2021 ◽  
Vol 3 ◽  
Author(s):  
Alberto Martinetti ◽  
Peter K. Chemweno ◽  
Kostas Nizamis ◽  
Eduard Fosch-Villaronga
Keyword(s):  
Machine Learning ◽  
Human Robot Interaction ◽  
Cloud Services ◽  
Machine Learning Techniques ◽  
Physical Interaction ◽  
Robot Interaction ◽  
Learning Techniques ◽  
Standards And Regulations ◽  
Physical Impact ◽  
Definition Of

Policymakers need to consider the impacts that robots and artificial intelligence (AI) technologies have on humans beyond physical safety. Traditionally, the definition of safety has been interpreted to exclusively apply to risks that have a physical impact on persons’ safety, such as, among others, mechanical or chemical risks. However, the current understanding is that the integration of AI in cyber-physical systems such as robots, thus increasing interconnectivity with several devices and cloud services, and influencing the growing human-robot interaction challenges how safety is currently conceptualised rather narrowly. Thus, to address safety comprehensively, AI demands a broader understanding of safety, extending beyond physical interaction, but covering aspects such as cybersecurity, and mental health. Moreover, the expanding use of machine learning techniques will more frequently demand evolving safety mechanisms to safeguard the substantial modifications taking place over time as robots embed more AI features. In this sense, our contribution brings forward the different dimensions of the concept of safety, including interaction (physical and social), psychosocial, cybersecurity, temporal, and societal. These dimensions aim to help policy and standard makers redefine the concept of safety in light of robots and AI’s increasing capabilities, including human-robot interactions, cybersecurity, and machine learning.

Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks

2020 ◽  
Vol 12 (4) ◽  
Author(s):  
Sambad Regmi ◽  
Yun Seong Song
Keyword(s):  
Dynamic Characteristics ◽  
Design Methodology ◽  
Design Method ◽  
Mechanical Impedance ◽  
Robotic Arm ◽  
Physical Interaction ◽  
Robot Arm ◽  
Robotic Arms ◽  
Mathematical Simulations ◽  
Early Design Phase

Abstract We present a new design method that is tailored for designing a physical interactive robotic arm for overground physical interaction. Designing such robotic arms present various unique requirements that differ from existing robotic arms, which are used for general manipulation, such as being able to generate required forces at every point inside the workspace and/or having low intrinsic mechanical impedance. Our design method identifies these requirements and categorizes them into kinematic and dynamic characteristics of the robot and then ensures that these unique considerations are satisfied in the early design phase. The robot’s capability for use in such tasks is analyzed using mathematical simulations of the designed robot, and discussion of its dynamic characteristics is presented. With our proposed method, the robot arm is ensured to perform various overground interactive tasks with a human.

scholarly journals V2SOM: A Novel Safety Mechanism Dedicated to a Cobot’s Rotary Joints

Robotics ◽  
2019 ◽  
Vol 8 (1) ◽  
pp. 18 ◽  
Author(s):  
Younsse Ayoubi ◽  
Med Laribi ◽  
Said Zeghloul ◽  
Marc Arsicault
Keyword(s):  
Good Control ◽  
Variable Stiffness ◽  
Human Robot Interaction ◽  
Industrial Robots ◽  
Necessary Condition ◽  
Physical Interaction ◽  
Robot Interaction ◽  
Internal Damage ◽  
Low Stiffness ◽  
The Impact

Unlike “classical” industrial robots, collaborative robots, known as cobots, implement a compliant behavior. Cobots ensure a safe force control in a physical interaction scenario within unknown environments. In this paper, we propose to make serial robots intrinsically compliant to guarantee safe physical human–robot interaction (pHRI), via our novel designed device called V2SOM, which stands for Variable Stiffness Safety-Oriented Mechanism. As its name indicates, V2SOM aims at making physical human–robot interaction safe, thanks to its two basic functioning modes—high stiffness mode and low stiffness mode. The first mode is employed for normal operational routines. In contrast, the low stiffness mode is suitable for the safe absorption of any potential blunt shock with a human. The transition between the two modes is continuous to maintain a good control of the V2SOM-based cobot in the case of a fast collision. V2SOM presents a high inertia decoupling capacity which is a necessary condition for safe pHRI without compromising the robot’s dynamic performances. Two safety criteria of pHRI were considered for performance evaluations, namely, the impact force (ImpF) criterion and the head injury criterion (HIC) for, respectively, the external and internal damage evaluation during blunt shocks.

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