Investigation of safety in human-robot-interaction for a series elastic, tendon-driven robot arm

Lens, Thomas; Stryk, Oskar von

doi:10.1109/iros.2012.6386236

Cited by 60 publications

(20 citation statements)

References 22 publications

(24 reference statements)

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“…To ensure an intrinsic safe interaction with the user, to avoid breakage when unpredicted contacts occur and to implement energy storage the transmission is provided with a non-conventional serial elastic element [13], [14].…”

Section: A Requirementsmentioning

confidence: 99%

A series elastic composite actuator for soft arm exosuits

Cappello

Pirrera

Masia

2015

2015 IEEE International Conference on Rehabilitation Robotics (ICORR)

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Abstract-The paper introduces a novel type of actuator for soft wearable exoskeletons providing assistance to the elbow joint motion. The mechanism consists of two DC motors, a multistable composite transmission which introduces series elastic properties, a high-efficiency non-backdrivable mechanism and a pair of Bowden cables to transmit the motion from the actuator to the joint. A test bench has been designed to experimentally characterize the performance of the proposed device. The control architecture is then introduced and described. The results of preliminary tests are shown and discussed. In conclusion, future developments and a embodiment of the envisioned application are introduced.

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Section: A Requirementsmentioning

confidence: 99%

A series elastic composite actuator for soft arm exosuits

Cappello

Pirrera

Masia

2015

2015 IEEE International Conference on Rehabilitation Robotics (ICORR)

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“…A reduction of inertia makes change in motion easier, and reduce or prevent damage due to internal collisions. A cable transmission in robot arm is easier to move which robot has light weight structure [8][9][10][11][12]. In medical applications.…”

Section: Introductionmentioning

confidence: 99%

Design of high performance DC motor actuated cable driving system for compact devices

Direkwatana

Suthakorn

2020

IJPEDS

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The cable transmission is widely used in the remote operation or complex geometry with high stiffness and low backlash. Larger drum is required to reduce and error of transmission in long stroke. An error of the desired position occurs due to the fleet angle while cable winding on a drum. Therefore, a new cable driving module which overcomes this problem is proposed. A new cable driving module with a sliding platform is connected to the actuator unit. A motion of the sliding platform is corresponding to a screw rod connected to an actuator. The precision of the driving system is measured by a high-resolution rotatory encoder and high gear ratio actuator. Results are measured by load and error of the system. A load of system shows a performance of overall translation and rotation of the drum at different speeds. An error of the system is measured from forward and reverse direction by increasing and decreasing the number of turns with constant speed. A system has an average load consumption along a long stroke of cable winding which has no significant problem on the screw platform. Multiple turns have low error value in specific and continuous turn in forward and reverse motion. A new cable driving system is proved in precision movement. The fleet angle is eliminated in new mechanism. Along with a constraint motion, there is no significant change in load consumption. An error is low value in a different direction of movement. Hence, a new design of cable transmission can perform in high performance and small size of the system.

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“…On the other hand, cable-driven manipulators perform well in shock-absorbing and impulse-reducing thanks to cable's flexibility. 6 Thus, cable-driven manipulators can effectively improve safety in human-machine interaction. 7 Since driving units are placed at the base of the manipulator, cables have to go through a carved path to drive the end-effector leading to motion decoupling and degeneration of the control performance.…”

Section: Introductionmentioning

confidence: 99%

Design and modeling of motion-decoupling mechanism for cable-driven joints

Jiang

Hua

Wang

et al. 2018

Advances in Mechanical Engineering

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With the advantages of simple structure, low power consumption, high ratio of load to self-weight, and good flexibility, the cable-driven robots are especially suitable for medical instruments and home service. Due to the alignment of cables, there is a problem of motion coupling between the manipulator joints, leading to the degradation of control accuracy. Moreover, the hysteresis and the dead zone of the cable driving unit make it difficult to control the joint accurately. To effectively solve above-mentioned motion-coupling problem, a novel motion-decoupling mechanism is proposed and investigated. An experimental setup is established to verify the kinematic decoupling characteristics. Based on the ''static friction + Coulomb friction'' model, the friction model is established and verified. Thus, studies on the friction model have provided theoretical basis for the accurate force coordinated control of the cable-driven system.

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Investigation of safety in human-robot-interaction for a series elastic, tendon-driven robot arm

Cited by 60 publications

References 22 publications

A series elastic composite actuator for soft arm exosuits

A series elastic composite actuator for soft arm exosuits

Design of high performance DC motor actuated cable driving system for compact devices

Design and modeling of motion-decoupling mechanism for cable-driven joints

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