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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...
We present preliminary results on the passive velocity field control (PVFC) of the quadrotor-type UAVs, which allows the quadrotor to follow the direction of a given velocity field while enforcing passivity of the closed-loop system. Some theoretical results are presented along with a simulation result.
Enabling robots to safely interact with humans is an essential goal of robotics research. The developments achieved over the last years in mechanical design and control made it possible to have active cooperation between humans and robots in rather complex situations. In these terms, safe behavior of the robot even under worst-case situations is crucial and forms also a basis for higher level decisional...
Robots will more and more enter our daily life. In order to increase their acceptance it is necessary that their movements and behavior are predictable. With our present experiment we assess the acceptance of autonomous robots in human working and living environments. As a specific indicator we define legibility as an important prerequisite for user acceptance. In a simulator study participants rated...
Humans regulate their social behavior based on proximity to other social actors. Likewise, when a robot fulfills the role of a social actor it too should regulate its interaction based on proximity. This paper describes work in progress to establish methods for autonomous modification of social behavior based on proximity and to quantify human preferences between methods of scaling a robot's social...
We present a robotic control system endowed with attentional mechanisms suitable for balancing the trade off between safe human-robot interaction and effective task execution. These mechanisms allow the robot to increase or decrease the degree of attention toward relevant activities modulating the frequency of the monitoring rate and the speed associated to the robot movements. In this framework,...
The study concerns a 2D safety vision system for human-robot collaborative work environments. The vision system is characteristic of having a freedom from structuring the environment by setting passive markings, i.e. neither painting on the floor nor hanging a camera up on a ceiling is necessary. To preserve safety states, we set the passive markings in the original image based upon Shannon information...
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...
Recent advances in the study of human assistive robots have led to requests for ethical review for clinical trials during the development process. In this environment, many developers have found it difficult to understand the criteria for these ethical reviews. One of the basic reasons for this difficulty is the methodology in robotics. That is, trials in the development of robotics are characterized...
The study concerns a safety vision system for human-robot collaborative work environments. The vision system is characteristic of having a freedom from structuring the environment by setting passive markings, i.e. neither painting on the floor nor hanging a camera up on a ceiling is necessary. To preserve safety states, we set the passive markings in the original image based upon Shannon information...
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...
Modeling and predicting human behavior is indispensable when industrial robots interacting with human operators are to be manipulated safely and efficiently. One challenge is that human operators tend to follow different motion patterns, depending on their intention and the structure of the environment. This precludes the use of classical estimation techniques based on kinematic or dynamic models,...
This paper addresses the motion planning problem while considering Human-Robot Interaction (HRI) constraints. The proposed planner generates collision-free paths that are acceptable and legible to the human. The method extends our previous work on human-aware path planning to cluttered environments. A randomized cost-based exploration method provides an initial path that is relevant with respect to...
In recent years, rapid aging in Japanese society advances and the care givers takes on large loads. Especially, transfer operation, such as a patient transfer from a bed to a wheelchair or back, is one of the most physically heavy tasks in nursing care. Therefore, there is strong demand for nursing assist system for them. We have developed the nursing-care assistant robot named RIBA that aimed to...
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...
Following recent advances in robotics for supporting human activities, ethical reviews similar to those for medical research and development have been requested for clinical trials in the development process of this field of robotics. In this environment, many robot developers have found it difficult to understand the criteria for these ethical reviews. One of the basic reasons for this difficulty...
The purpose of this work is to develop information support for human-robot collaboration in cellular manufacturing based on human-centered approach to improve the human adaptability of the support system. In this paper, six main developments are presented to illustrate the human-centered approach. Before the human-robot collaboration system can be developed, a human-human collaboration experiment...
The development in this work is to evaluate analytically human-robot system for collaboration based on performance requirements in cellular manufacturing system. This work continues from a previous task modeling study to further evaluate quantitatively the collaboration planning of the human-robot system. The analysis study is based on Analytic Hierarchy Process (AHP) approach. Four criteria (productivity,...
This article presents the results of a study on including human factors in assessment of the level of danger involved in a robot operation. A dynamic risk assessment method, which considers all effective factors in a collision, is essential for planning and control of the human-safe robots. In this regard, the visibility of the robot in the human eyes can significantly effect the probability of collision...
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