Compliant Limb Sensing and Control for Safe Human-Robot Interactions

Miyata, Colin; Ahmadi, Mojtaba

doi:10.1109/icra.2019.8793965

Cited by 2 publications

(1 citation statement)

References 30 publications

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“…Several examples of systems that use SEA can be found in the literature, mainly in areas such as Rehabilitation Robots (Chen et al, 2019;DeBoon et al, 2019;Miyata and Ahmadi, 2019;Lee et al, 2018), and Exoskeletons and Prostheses (Alamdari et al, 2019;Bianchi et al, 2018;Chen et al, 2019;Convens et al, 2019;Freitas et al, 2019;Woo et al, 2017). Other major areas where this type of actuator can also be found are in the study of locomotion of robotic platforms (Knabe et al, 2015;Ruppert and Sprowitz, 2019;Schumann et al, 2019;Zhang et al, 2019), and in Physical Human-Robot Interaction (pHRI) Shi et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

Modeling and Control of Four-bar Mechanism with Series Elastic Actuators

Lopes

Meggiolaro

2020

Anais Do Congresso Brasileiro De Automática 2020

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A new generation of robots that work in cooperation with humans (called collaborative robots) needs some flexibility to adapt to the environment and activities with people. That is why the Series Elastic Actuator (SEA) has been a breakthrough in actuator technologies. The idea of inserting an elastic element in series with a motor allows a lower output impedance, consequently a flexible behavior in the manipulator, in addition to providing torque feedback to better compensate disturbances caused e.g. by friction losses. This article presents a four-bar mechanism with SEA for the purpose of robotic manipulation. Its kinematics and dynamicsare studied, as well as its regulation and trajectory control. The behavior of the decoupled four-bar mechanism and the characteristics of the SEA are also analyzed. Then the regulation control of the complete system is carried out using LQR control. Finally, a circular trajectory is controlled in a simulation to validate the proposed control strategy. The simulation results show the effectiveness of the proposed controller for the mechanism in the presence of SEAs estimating torque and providing the desired compliance for human interaction.

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