3D printed soft skin for safe human-robot interaction

Kim, Joohyung; Alspach, Alexander; Yamane, Katsu

doi:10.1109/iros.2015.7353705

Cited by 75 publications

(39 citation statements)

References 18 publications

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“…Social robots are designed with big responsive eyes and eyebrows [12], as are mobile, dexterous and social robots (MDS) [11,94]. Some designers have shaped robots like baby animals-such as the harp seal robot PARO [1]-and use biomimetic features such as soft skin for tactile trust [50]. The Kismet robot with human-like eyes, eyebrows and lips was designed to recognize and mimic emotions, including facial expressions, vocalisations and movement [12].…”

Section: Implicit Justifications Of Trustmentioning

confidence: 99%

Trustworthiness of Autonomous Systems

Devitt

2018

Foundations of Trusted Autonomy

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Section: Implicit Justifications Of Trustmentioning

confidence: 99%

Trustworthiness of Autonomous Systems

Devitt

2018

Foundations of Trusted Autonomy

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“…Similar to ISR-SoftHand [13] and UC-SoftHand [14], there are robotic hands that possess both types of softness. Using pneumatic actuators facilitates combination of softness types, for example, in ROBO hand [21][22], Starfish-like hand [23], lightweight underactuated pneumatic fingers [24], soft elastomer quadrupedal robots [25], safe interaction gripper [26], inflatable rubber pockets based gripper [27], puncture resistant soft gripper [28], modular soft robotic grippers [29], and jamming gripper [30] [31]. Presence of both types of softness facilitates grasping of several kinds of objects.…”

Section: A Related Workmentioning

confidence: 99%

Variable-Grasping-Mode Underactuated Soft Gripper With Environmental Contact-Based Operation

Nishimura

Mizushima

Suzuki

et al. 2017

IEEE Robot. Autom. Lett.

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Abstract-A novel robotic gripper with soft surfaces and underactuated joints was proposed. The soft surface was fabricated from a deformable rubber bag filled with incompressible fluid and a microgripper inside the fluid. A ratchet was installed at the underactuated joint so that the joint's rotation caused by contact with an environment, such as a supporting surface, can be preserved, and the actions of scooping and enveloping an object are realized. With one actuator, the gripper realized three modes i.e., parallel gripper, pinching, and enveloping. The range of graspable objects was wide and included soft, rigid, deformable, fragile, small (boundary length less than 30 mm), large (more than 80 mm long), thin (less than 0.5 mm) and heavy (more than 3 kg) objects.

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“…• As the robot's moving parts are the last safety barrier, there must be damage-minimizing solutions to handle a situation where a robot arm hits an operator, for example in the form of soft surfaces [15] or airbags.…”

Section: Safety When Operators Work In Direct Robot Contactmentioning

confidence: 99%

Safety Assessment Strategy for Collaborative Robot Installations

Grahn¹,

Johansen²,

Eriksson³

2017

Robots Operating in Hazardous Environments

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Industrial resource efficiency can be improved if the safety barrier between humans and robots is removed, as this enables operators and robots to work side by side or in direct collaboration to solve a task, usually referred to as a collaborative robot installation. Even though technology development makes the barrier removal ever more feasible from a safety perspective, this still produces a possible hazardous working environment, and safety assessment strategies are crucial. A wide area of knowledge is required to assess all fields that can help ensure safe human-machine interaction. Here the focus is primarily on providing a description of the key fields identified, including how operators psychologically accept working with robots, and providing a cursory description of the research front for each individual field. In addition to covering a large number of parameters, the assessment strategy also needs to be cost-effective. A significant part of all parameters that can be considered when attempting to produce optimized and cost-effective collaborative robot installations will also have a direct impact on operator safety. Hence, assessments for safety, and assessments for cost-effectiveness, cannot be separated, and are treated as two objectives that need to be viewed in sync.

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3D printed soft skin for safe human-robot interaction

Cited by 75 publications

References 18 publications

Trustworthiness of Autonomous Systems

Trustworthiness of Autonomous Systems

Variable-Grasping-Mode Underactuated Soft Gripper With Environmental Contact-Based Operation

Safety Assessment Strategy for Collaborative Robot Installations

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