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The safety of humans who work with robots is an important issue. Many studies have addressed related methods, but fundamental limits to meet safety requirements have been encountered owing to the absence of compliance in robot actuators. Pneumatic muscle is considered to be a basic actuator and offers the advantage of intrinsic elasticity to achieve joint compliance. In this study, joint compliance...
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,...
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 an energy-based control strategy to be used in robotic systems working closely or cooperating with humans. The presented method bounds the dangerous behavior of the robot during the first instants of the impact by limiting the energy stored into the system to a maximum imposed value.Two critical physical human robot interaction (pHRI) cases are studied, these are the collision...
The key challenge of this work is to research the safety design and development of a close range active human-robot collaboration system in which no governing safety standards and regulations are currently present. Active robot assistance in a human-centered cellular manufacturing system is very promising proposal, however safety is the uppermost consideration before this idea can be materialized...
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...
The future of robotics is not limited to factories and homes, and is extending to robot-assisted urban search and rescue. This paper proposes a new application of neural networks in this emerging field of research. Specifically, a neural network with feedforward architecture using the backpropagation learning algorithm is implemented in order to determine the positioning of a robotic gripper that...
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