https://scholars.lib.ntu.edu.tw/handle/123456789/576138
標題: | Importing the Human Factor into Safe Human-Robot Interaction Function Using the Bond Graph Method | 作者: | Cheng P.-J Ting H.-Y Huang H.-P. HAN-PANG HUANG |
關鍵字: | Actuators; Agricultural robots; Fault detection; Stiffness; Bond graph method; Elastic actuators; Joint stiffness; Post-collision; Protection measures; Robust fault detection and isolation; Safe human-robot interaction; Variable stiffness; Human robot interaction | 公開日期: | 2021 | 卷: | 39 | 期: | 5 | 起(迄)頁: | 772-786 | 來源出版物: | Robotica | 摘要: | The variable stiffness actuator (VSA) is helpful to realize the post-collision safety strategies for safe human-robot interaction.1 The stiffness of the robot will be reduced to protect the user from injury when the collision between the robot and human occurs. However, The VSA has a mechanism limit constraint that can cause harm to users even if the stiffness is minimized. Accordingly, in this article, a concept combining danger index and robust fault detection and isolation is presented and applied to active-passive variable stiffness elastic actuator (APVSEA). APVSEA can actively change joint stiffness with the change of danger index. Experimental results show that this concept can effectively confirm the fault mode and provide additional protection measures to ensure the safety of users when the joint stiffness has been adjusted to the minimum. Copyright ? The Author(s), 2020. Published by Cambridge University Press. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85095816834&doi=10.1017%2fS0263574720000715&partnerID=40&md5=5120e627ab5fdea0be53058f7ca8d1a1 https://scholars.lib.ntu.edu.tw/handle/123456789/576138 |
ISSN: | 2635747 | DOI: | 10.1017/S0263574720000715 |
顯示於: | 機械工程學系 |
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