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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...
With recent advances in safe and compliant hardware and control, robots are close to finding their places in our homes. As the safety barrier between humans and robots is beginning to fade, the necessity to design pertinent robot behavior in human environments is becoming a crucial step. In order to obtain a safe, comfortable, and socially acceptable interaction, the robot should be engineered from...
There is a growing need for robots that can function in close proximity to human beings and also physically interact with them safely. We believe inherent safety is extremely important for robots in human environments. Towards this end, we are exploring the use of inflatable structures for manipulators instead of traditional rigid structures, to improve safety in physical human robot interaction (pHRI)...
Safety is one of the most important requirements in robotic rehabilitation systems. Vulnerable users may get injured or feel pain by a sudden impact, i.e. large assistive torque or fast change in the assistive torque from the rehabilitation systems. In automated rehabilitation systems, the desired torque is determined in real-time based on measurements that represent the patient's status. Abrupt changes...
This article accompanies a video that presents a bimanual haptic device composed of two DLR/KUKA Light-Weight Robot (LWR) arms. The LWRs have similar dimensions to human arms, and can be operated in torque and position control mode at an update rate of 1 kHz. The two robots are mounted behind the user, such that the intersecting workspace of the robots and the human arms becomes maximal. In order...
This paper studies the difference between the human behaviours for fault tolerance with a pseudo inverse reconfiguration approach for fault tolerance of robotic arms. If this difference is well understood then it can be used to introduce a hybrid approach for fault tolerant motion of robotic arms. The proposed approach is expected to combine human fault-tolerance dexterity and advantages of a model...
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...
In this paper we present various new insights on the effect intrinsic joint elasticity has on safety in pHRI. We address the fact that the intrinsic safety of elastic mechanisms has been discussed rather one sided in favor of this new designs and intend to give a more differentiated view on the problem. An important result is that intrinsic joint elasticity does not reduce the Head Injury Criterion...
The advent of the super aged society and decline in earning power makes it critical to develop technologies that can support the limitations of our human abilities. We have developed Robot Suit HAL to support human physical capabilities. A wearable robot expected to work in human society is required to have a high structural safety, with a tough and compact structure and a human outline. To achieve...
This paper presents the PAS-Arm (passive assist arm), a novel assist arm based on passive robotics. PAS-Arms are intended for direct physical interaction with a human operator. PAS-Arms are physically passive. Their purpose is not to enhance human strength but to produce specified but arbitrary two-dimensional guiding surfaces that constrain and guide the motion of the human operator. PAS-Arms have...
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