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Lab Presentation. 12/10/2010. Safer Human Robot Interaction through Compliance in Design. Compliance via pneumatic actuators Inertia reduction Inertia decoupling Compliance via soft covering Peak force reduction Capacitative sensing skin Research Goal

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Lab Presentation

12/10/2010


Safer Human Robot Interaction through Compliance in Design

  • Compliance via pneumatic actuators

    • Inertia reduction

    • Inertia decoupling

  • Compliance via soft covering

    • Peak force reduction

    • Capacitative sensing skin

  • Research Goal

    • Investigate these effects on impact forces ->injury


Robot arm

Target


System Equations of Motion


Effect of Stiffness Source

6 Hz

30 Hz

  • Test Conclusions

  • Mini does not increase peak forces significantly while vastly improving performance

  • Pressure has little effect on peak forces


Limitations

  • Fragile

  • One of kind

  • Limited travel

  • Limited end tip velocity (0.5 m/s)


Goals

  • Does joint stiffness effect collision?

  • Can skin sensor pick detect collision?


Distal link

Torque spring

Piece of tape

JR3 sensor


Cushion layer

shield

Sensor strip


Preliminary Results

2 m/s, k = 27.793 N mm/deg

2 m/s, k = 0.395 N mm/deg


JR3 Data

2 m/s, k = 27.793 N mm/deg

2 m/s, k = 0.395 N mm/deg


To do:

  • Find optimal frequency division

    • Noise vs response

  • Improve experimental setup

    • Ensure configuration

    • Stiffen target

    • Find optimal skin thickness


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