An Integrated Dynamic Simulation Platform for Assistive Human-Robot Interaction: Application to Upper Limb Exosuit

Soft exosuits are wearable robotic devices that assist or enhance the human muscle performance. A human machine interface simulation platform based on MATLAB-OpenSim interface is developed in this paper for closed loop dynamic simulation with feedback control strategy and to study its effect on human physiology. The proposed simulation model is based on Computed Muscle Control (CMC) algorithm and is implemented using the MATLAB -OpenSim interface. A Gravity Compensation (GC) controller has been implemented on the external device and the resulting decrease in the physiological torques, muscle activations and metabolic costs during a simple load lifting task with two different speeds is investigated.

Download Full-text

An Integrated Dynamic Simulation Platform for Assistive Human-Robot Interaction: Application to Upper Limb Exosuit

10.36227/techrxiv.14957274 ◽

2021 ◽

Author(s):

Ratna Sambhav ◽

Shreeshan Jena ◽

Ankit Chatterjee ◽

Sitikantha Roy ◽

Shubhendu Bhasin ◽

...

Keyword(s):

Dynamic Simulation ◽

Human Robot Interaction ◽

Muscle Performance ◽

Simulation Platform ◽

Robot Interaction ◽

Machine Interface ◽

Robotic Devices ◽

Muscle Activations ◽

Feedback Control Strategy ◽

Lifting Task

Download Full-text

What are required to simulate interaction with robot? SIGVerse — A simulation platform for human-robot interaction

2011 IEEE International Conference on Robotics and Biomimetics ◽

10.1109/robio.2011.6181742 ◽

2011 ◽

Cited By ~ 3

Author(s):

Jeffrey Too Chuan Tan ◽

Tetsunari Inamura

Keyword(s):

Human Robot Interaction ◽

Simulation Platform ◽

Robot Interaction

Download Full-text

SIGVerse - A cloud computing architecture simulation platform for social human-robot interaction

2012 IEEE International Conference on Robotics and Automation ◽

10.1109/icra.2012.6225359 ◽

2012 ◽

Cited By ~ 13

Author(s):

Jeffrey Too Chuan Tan ◽

Tetsunari Inamura

Keyword(s):

Cloud Computing ◽

Human Robot Interaction ◽

Simulation Platform ◽

Robot Interaction ◽

Computing Architecture ◽

Architecture Simulation

Download Full-text

Design of a Variable Stiffness Actuator Based on Flexures

Journal of Mechanisms and Robotics ◽

10.1115/1.4004228 ◽

2011 ◽

Vol 3 (3) ◽

Cited By ~ 32

Author(s):

Gianluca Palli ◽

Giovanni Berselli ◽

Claudio Melchiorri ◽

Gabriele Vassura

Keyword(s):

Compliant Mechanism ◽

Variable Stiffness ◽

Human Robot Interaction ◽

Experimental Characterization ◽

Robot Interaction ◽

Trade Off ◽

Variable Stiffness Actuator ◽

Robotic Devices ◽

Stiffness Profile ◽

Variable Stiffness Actuators

Variable stiffness actuators can be used in order to achieve a suitable trade-off between performance and safety in robotic devices for physical human–robot interaction. With the aim of improving the compactness and the flexibility of existing mechanical solutions, a variable stiffness actuator based on the use of flexures is investigated. The proposed concept allows the implementation of a desired stiffness profile and range. In particular, this paper reports a procedure for the synthesis of a fully compliant mechanism used as a nonlinear transmission element, together with its experimental characterization. Finally, a preliminary prototype of the overall joint is depicted.

Download Full-text

Validating Safety in Human–Robot Collaboration: Standards and New Perspectives

Robotics ◽

10.3390/robotics10020065 ◽

2021 ◽

Vol 10 (2) ◽

pp. 65

Author(s):

Marcello Valori ◽

Adriano Scibilia ◽

Irene Fassi ◽

José Saenz ◽

Roland Behrens ◽

...

Keyword(s):

Industrial Robot ◽

Human Robot Interaction ◽

Safety Skills ◽

Robot Interaction ◽

Safety Testing ◽

Testing Procedures ◽

Cross Domain ◽

Robotic Devices ◽

Definition Of ◽

Human Robot Collaboration

Human–robot collaboration is currently one of the frontiers of industrial robot implementation. In parallel, the use of robots and robotic devices is increasing in several fields, substituting humans in “4D”—dull, dirty, dangerous, and delicate—tasks, and such a trend is boosted by the recent need for social distancing. New challenges in safety assessment and verification arise, due to both the closer and closer human–robot interaction, common for the different application domains, and the broadening of user audience, which is now very diverse. The present paper discusses a cross-domain approach towards the definition of step-by-step validation procedures for collaborative robotic applications. To outline the context, the standardization framework is analyzed, especially from the perspective of safety testing and assessment. Afterwards, some testing procedures based on safety skills, developed within the framework of the European project COVR, are discussed and exemplary presented.

Download Full-text

Hybrid Pneumatic-Hydraulic Actuator with Adaptable Stiffness

International Journal of Recent Technology and Engineering - 2 ◽

10.35940/ijrte.f7241.038620 ◽

2020 ◽

Vol 8 (6) ◽

pp. 179-183

Keyword(s):

Real Life ◽

Human Robot Interaction ◽

Muscle Performance ◽

Hydraulic Actuator ◽

Robot Interaction ◽

Main Challenge ◽

Different Types ◽

Mckibben Muscle ◽

Parallel Configuration ◽

Hybrid Actuator

This work presents a method to control the stiffness of a hybrid actuator. The resulting stiffness is required to meet the conditions of real life applications, such as human prosthetics, human-robot interaction, and delicate robot interaction. The hybrid actuator is basically a pneumatic-hydraulic muscle, which can operate simultaneously in both pneumatic and hydraulic modes. The main challenge in this work is to manage the switching between pneumatic and hydraulic modes. In pneumatic mode when a load is applied to the actuator, air in the tank is allowed to compress resulting in muscle extension. While in hydraulic mode, the fluid is pressurized and the resultant system stiffness is higher. In both cases, the McKibben muscle is full with hydraulic fluid. It has been shown that the performance of the actuator is mostly the same in terms of response and bandwidth in both modes of operation. The use of different types of controllers to improve the system performance is investigated. It is found that the parallel configuration combined with PID controller is the best solution for achieving the required muscle performance.

Download Full-text