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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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safer human robot interaction through compliance in design
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
slide4
Robot arm

Target

e ffect of stiffness source
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
Limitations
  • Fragile
  • One of kind
  • Limited travel
  • Limited end tip velocity (0.5 m/s)
goals
Goals
  • Does joint stiffness effect collision?
  • Can skin sensor pick detect collision?
slide11
Distal link

Torque spring

Piece of tape

JR3 sensor

slide12
Cushion layer

shield

Sensor strip

preliminary results
Preliminary Results

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

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

jr3 data
JR3 Data

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

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

to do
To do:
  • Find optimal frequency division
    • Noise vs response
  • Improve experimental setup
    • Ensure configuration
    • Stiffen target
    • Find optimal skin thickness
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