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The passive dynamic control (“PDC”) is a mechanical system control method based on an inherently safe design. It positively uses a passive element (braking effort) whose characteristics are variable. In this paper, the PDC is applied to a rotary pneumatic actuator. First, the rotary pneumatic actuator equipped with an electromagnetic brake and a sensor for applying the PDC is proposed, and its control...
For robots working in human environment, human safety is one of the most serious and important aspects to be considered. Appropriate intrinsic and / or functional safety design must be employed for collaborative robots in order to reduce the human injury risks through physical human-robot interaction. Above all the situations that such interactions are possible to occur, it is reported that clamping...
This paper presents a power assist robot system developed for manipulating objects in horizontal direction in cooperation with a human. Weight perception was included in robot dynamics and control. The robot was simulated and optimum maneuverability conditions for object manipulation in horizontal direction were determined. Psychophysical relationships between actual and perceived weights were determined,...
This paper presents an Active Variable Stiffness Differential Elastic Actuator (ADEA) which is designed and application for robotic systems and more generally for machines that are designed to interact with people and environments under safety constraints. The ADEA consists of two DC-motors to drive two antagonistic warm gears independently. By changing the synchronisation and differentiation of angle...
One of the main issues in human-robot interaction is to control the forces arising from physical interaction. In this work, it is proposed an optimal admittance force controller for safe physical human-robot interaction (pHRI), which is obtained using optimization tools. First, the performance index of the optimization problem is proposed as the weighted sum of the force tracking error and its time...
In today's global economic integration, the competition of enterprises is the competition of talents. Today is also the era of knowledge economy, the management enterprises is the management of culture and talents. Human resources management (HRM) has a vital role in the development of enterprises. In the HRM of enterprises, enterprise culture should serve as the spirit guidance. Managers should improve...
Human-machine collaborative teleoperation systems were introduced to overcome limitations of state-of-the-art teleoperation systems by using a virtual assistant that supports the human operator in the execution of a task. Since assistances are highly task-dependent a correct classification of the currently performed task is paramount. In this paper, we present a novel approach for improving task classification...
The success of human robot interaction (HRI) tasks is characterized by evaluating robot performance in terms of collision safety and position accuracy. Hence, both position accuracy and collision safety are equally indispensable. HRI refers to cognitive as well as physical interaction. Cognitive human robot interaction based on perception and awareness where as physical human robot interaction demands...
Accidents caused by automatic doors frequently occur. Infrared sensor or force sensor is often used for automatic doors to detect the presence of a human, and ensure the safety of doors. But in the case of train doors, we can not use infrared sensor and force sensor because of several reasons. In addition, train doors should be gated exactly not to disturb the train services. This paper suggests two...
The passive dynamic control ("PDC") is a mechanical system control method based on an inherently safe design. It positively uses passive elements (braking mechanism) whose characteristics are variable. In this paper, the PDC is applied to a pneumatic rubber artificial muscle actuator. First, the PDC pneumatic rubber artificial muscle actuator with a Magneto-Rheological brake is proposed,...
According to Maslow's hierarchy of needs, the Sustainable Development Theory and the Theory of Urban Growth, this article which is based on the theoretical analysis of the function of the land-use system in urban residential areas has sorted out the function of it by using FAST technology and has preliminarily studied the calculation method of the functional level. This article has, therefore, drawn...
In this paper a reactive control strategy intended for human-robot interactions (HRI) is presented. A conventional reactive control scheme is reviewed first. This is followed by the introduction of a new prediction-based reactive control strategy. The new control strategy considers foreseeable dangerous events by predicting human motion using artificial neural networks, based on the previous pattern...
A direct teaching system emphasizing safety and operability for SP02, an upper-body humanoid that cooperates with a human in a cell-production workspace has been described. The system has a direct teaching device, which enables an operator to teach a multi-D.O.F manipulator at comfortable posture despite large changes in the pose of an end-effector. The double-checked safety-related part (SRP/CS)...
In this paper, we designed a 1DOF power assist system for lifting objects. Human's vertical lifting force, comprises of inertial force and gravitational force, was considered as the desired dynamics of the system. We hypothesized that human's perception of object weight due to inertial force might be different from the perceived weight due to gravitational force for lifting object with the power assist...
A simplified approach to time domain passivity control (TDPC) is applied to a haptic teleoperation scheme. Unlike traditional TDPC, this scheme monitors the power output of a port rather than the energy summation. This method differs from traditional TDPC in that it requires no integration and is less subject to the associated problems of reset and data loss. The simplified controller is applied to...
In this paper we discuss the integration of active and passive approaches to robotic safety in an overall scheme for real-time manipulator control. The active control approach is based on the use of a supervisory visual system, which detects the presence and position of humans in the vicinity of the robot arm, and generates motion references. The passive control approach uses variable joint impedance...
This paper presents a new design method for force control, which aims to control the interaction force between a robot and a human by satisfying certain safety requirements. In this method, an optimization-based control algorithm, called Iterative Feedback Tuning (IFT), is used to employ safety requirements as constraints of an optimization problem, which is then solved using sequential quadratic...
Collision safety between humans and robots has drawn much attention because service robots are increasingly being used in human environments. The design of a service robot usually requires reliable collision analysis based on appropriate safety criterion. Previous safety criteria are too restrictive or generous with respect to collision injury. This paper proposes a new safety criterion for physical...
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