A torque limiter for safe joint applied to humanoid robots against falling damage

Guo, Xinran; Zhang, Weimin; Liu, Huaxin; Zhang, Wen; Conus, William; Hashimoto, Kenji

doi:10.1109/robio.2015.7419707

Cited by 11 publications

(3 citation statements)

References 11 publications

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“…The outer ring of the cross roller bearing (6) is fixed. The spokes (11) that connect the inner and outer ring of (2) deform when torque is applied. They are represented by the torsion spring in Fig.…”

Section: Mechanical Designmentioning

confidence: 99%

Overload Clutch With Integrated Torque Sensing and Decoupling Detection for Collision Tolerant Hybrid High-Speed Industrial Cobots

Ostyn

Vanderborght

Crevecoeur

2022

IEEE Robot. Autom. Lett.

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Section: Mechanical Designmentioning

confidence: 99%

Overload Clutch With Integrated Torque Sensing and Decoupling Detection for Collision Tolerant Hybrid High-Speed Industrial Cobots

Ostyn

Vanderborght

Crevecoeur

2022

IEEE Robot. Autom. Lett.

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“…[17][18][19] Torque limiters are widely used devices that are used as safety equipment as they are able to reduce the torque to a threshold value. They are used in many engineering applications, such as aeronautical, [20] robotics, [21][22][23] and biomechanics. [24] They work under different operating principles among which the most used are the magnetic and the mechanical friction.…”

Section: Introductionmentioning

confidence: 99%

Study of a Torque Limiter Based on NiTi Pseudoelastic Tapes

et al. 2021

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Herein, a new torsional device based on shape memory alloy elements and operating as torque limiter is presented. It consists of a set of pseudoelastic NiTi tapes working in series configuration. The tapes are assembled radially with respect to the rotational direction and work sequentially in beam‐like bending mode. The trend of the resulting torque may span from pulsating to continuous by changing the number of tapes. Furthermore, the use of NiTi material enables a temperature‐dependent response. Due to the particular mounting, the flag‐shaped pseudoelastic mechanical behavior typical of NiTi is partially hidden; however, the use of pseudoelastic elements provides a stable cyclic response and enables the possibility to tune the output torque.

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“…Instead, it intervenes only when a force threshold is surpassed, outside of the normal operating conditions. Mechanical overload protection has previously been proven useful in human-robot interaction [20] and damage prevention [21] in humanoids. Modular robots with magnetic interfaces automatically have some degree of overload protection built in, as the coupling disengages when magnetic forces are exceeded.…”

Section: Introductionmentioning

confidence: 99%

Automatic Couplings With Mechanical Overload Protection for Modular Robots

Belke

Paik

2019

IEEE/ASME Trans. Mechatron.

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This paper presents an automatic coupling mechanism with mechanical overload protection for use in modular robotic systems. The genderless coupling incorporates a novel safety mechanism that disengages two modules at a predefined torque threshold. Several key design aspects allow the minimalist coupling to contain all functionalities within a compact cylindrical space. A detailed analytical model of the overload protection mechanism is validated by testing two materials and fabrication methods. We further present a functional prototype of the coupling with a demonstration of two modular robots driving toward one another, automatically connecting and disconnecting, detecting the connection, communicating in the process, and sensing the angle between them. The coupling as well as the embedded technologies and mechanisms present essential steps toward enabling fully selfreconfigurable robots combining modular and origami features, while advancing the process of introducing modularity into a wide range of robotic systems.

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A torque limiter for safe joint applied to humanoid robots against falling damage

Cited by 11 publications

References 11 publications

Overload Clutch With Integrated Torque Sensing and Decoupling Detection for Collision Tolerant Hybrid High-Speed Industrial Cobots

Overload Clutch With Integrated Torque Sensing and Decoupling Detection for Collision Tolerant Hybrid High-Speed Industrial Cobots

Study of a Torque Limiter Based on NiTi Pseudoelastic Tapes

Automatic Couplings With Mechanical Overload Protection for Modular Robots

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