A New Actuation Approach for Human Friendly Robot Design

By M. Zinn, Bernard Roth, Oussama Khatib, J. Salisbury. Int. J. Robotics Res., 2004

596 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering, Mechanical Engineering

View Paper: https://www.semanticscholar.org/paper/5c225be52acd3381d25b24144e34ba17cc280289

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In Biomedical Engineering

In Control and Systems Engineering

In Mechanical Engineering

Citations in the corpus

Survey on human–robot collaboration in industrial settings: Safety, intuitive interfaces and applications (2018, background): “In this regard, in general collisions should be prevented, but if they accidentally occur, the robot should be able to react reducing forces at the impact, by using appropriate control laws [31] or using lightweight robots with compliant joints [32, 33, 34].”
A Series Elastic- and Bowden-Cable-Based Actuation System for Use as Torque Actuator in Exoskeleton-Type Robots (2006, background): “An important additional advantage of a lightweight, low-impedance actuated design is its inherent collision safety (Zinn et al. 2004).”
Working Together: A Review on Safe Human-Robot Collaboration in Industrial Environments (2017, methodology): “With the development of systems for mechanical compliance, such as the VSA approach [80], [81], the SEA approach [82], decoupling the heavy motor inertia from the link inertia [53], [59], the use of lightweight materials such as light carbon fibres [68], [76], and the use of sensor skin based on cap”
Measurement Instruments for the Anthropomorphism, Animacy, Likeability, Perceived Intelligence, and Perceived Safety of Robots (2009, unknown): “tor [57, 58].”
Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction (2005, background): “More recent approaches include minimization of link and motor inertias, and the design of new transmission mechanisms [3], [4].”
Fast and "soft-arm" tactics [robot arm design] (2004, methodology): “…23 Robots designed to share an environment with humans in domestic, entertainment, assistive, rehabilitation, or medical applications must fulfill different requirements from those in industry. to taking T equal to the time at which the head reaches its maximum velocity v(T) (typically, T ≤ 15 ms).”
VSA-II: a novel prototype of variable stiffness actuator for safe and performing robots interacting with humans (2008, background): “([8]) have opened up new directions, where a robotic manipulator is designed and/or optimally controlled to recover the lost performance in presence of compliance for intrinsic safety.”
An atlas of physical human-robot interaction (2008, unknown): “Indeed, the problem of blending the requirements for safety while keeping ‘‘traditional’’ robot performance (speed and accuracy) high remains an open challenge for the designers of human-centered robotic manipulators [21].”
A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots (2007, background): “The relevance of the topics becomes clear when looking at the latest hardware developments, where elasticity is deliberately introduced into the joints in order to increase the interaction performance and safety of robots (Morita et al. 1999; Zinn et al. 2004; Bicchi et al. 2003).”
Human–robot interaction review and challenges on task planning and programming (2016, background): “In more detail, attention is given to learning by imitation and exploration, but the key is the development of advanced control strategies in order to achieve compliance and thereby safer robot behaviour (Zinn et al. 2004).”
Requirements for Safe Robots: Measurements, Analysis and New Insights (2009, methodology): “An increase in intrinsic safety has been unambiguously related to an introduction of joint compliance in the robotics literature as described by Bicchi and Tonietti (2004) and Zinn et al. (2004).”