Safe Human-Robot Interaction Using Variable Stiffness, Hyper-Redundancy, and Smart Robotic Skins
Kapitel i bok, 2020

In service robotics, safe human-robot interaction (HRI) is still an open research topic, requiring developments both in hardware and in software as well as their integration. In UMAY1 and MEDICARE-C2projects, we addressed both mechanism design and perception aspects of a framework for safe HRI. Our first focus was to design variable stiffness joints for the robotic neck and arm to enable inherent compliance to protect a human collaborator. We demonstrate the advantages of variable stiffness actuators (VSA) in compliancy, safety, and energy efficiency with applications in exoskeleton and rehabilitation robotics. The variable-stiffness robotic neck mechanism was later scaled down and adopted in the robotic endoscope featuring hyper-redundancy. The hyper-redundant structures are more controllable, having efficient actuation and better feedback. Lastly, a smart robotic skin is introduced to explain the safety support via enhancement of tactile perception. Although it is developed for a hyper-redundant endoscopic robotic platform, the artificial skin can also be integrated in service robotics to provide multimodal tactile feedback. This chapter gives an overview of systems and their integration to attain a safer HRI. We follow a holistic approach for inherent compliancy via mechanism design (i.e., variable stiffness), precise control (i.e., hyper-redundancy), and multimodal tactile perception (i.e., smart robotic-skins).

smart-skin

variable stiffness

tactile feedback

hyper-redundancy

Författare

Pinar Boyraz Baykas

Chalmers, Mekanik och maritima vetenskaper, Fordonssäkerhet, Olycksanalys och prevention

Ertugrul Bayraktar

Istituto Italiano di Tecnologia

Cihat Bora Yigit

Siemens AS

Service Robotics

Styrkeområden

Informations- och kommunikationsteknik

Hälsa och teknik

Materialvetenskap

Drivkrafter

Innovation och entreprenörskap

Ämneskategorier

Interaktionsteknik

Människa-datorinteraktion (interaktionsdesign)

Robotteknik och automation

DOI

10.5772/intechopen.92693

Mer information

Skapat

2020-08-06