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Human safety represents the key requirement in physical human-robot interaction (pHRI). However, the majority of current research works focus on the safety evaluation. There is no definite way to design a robot that not only meets the performance but also has inherent safety. A humanoid robot for human joint movement rehabilitation is developed, to fulfill the requirement of both safety and its performance...
Safety is essential for physical Human-Robot Interaction (pHRI). Nowadays, most safety studies have focused on collision analysis and safety evaluation instead of the consideration of inherent safety. In this paper, a dual-arm robot easily manufactured in batch is developed with homogeneous compliant joint. In order to compromise performance and safety, a nonlinear model of human-robot collision with...
With the application of the robots more extensive, human-robot coexistence in the shared workspace is required on many occasions (e.g. home service, nursing care, industry, etc.). Therefore, human safety within human-robot coexistence represents the key requirement. Most safety studies have focused on collision analysis and safety evaluation, but not on the consideration of inherent safety and design...
For the purpose of enhancing compliance of robot joint, an impedance control strategy with new inner torque controller is proposed. Apparent inertia of the motor can be scaled down thanks to this new type of torque controller. Effects of different position (motor-side position θ and link-side position q) feedback strategies are explored through theoretical deviation, simulation and static stiffness...
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