Toward Inherently Safer Human-Robot Interaction Using Compliant Actuators With High Torque-to-Inertia Ratios and Low Torque-to-Stiffness Ratios
Journal
IEEE Access
Journal Volume
11
Start Page
114378
End Page
114389
ISSN
21693536
Date Issued
2023
Author(s)
Abstract
Existing robots rely on external sensors to detect and prevent potential human-robot collisions. However, with the growing demand for complex and high-speed human-robot interaction, robots with inherently safer actuators are becoming more desirable. Such robots offer robust protection against excessive impact force even when external sensors fail or become unavailable. Robot actuators with low reflected inertia and low effective stiffness are necessary to achieve mechanically safer human-robot interaction. This paper presents novel compliant actuators with high torque-to-inertia ratios and low torque-to-stiffness ratios without compromising the output torque and output stiffness of an actuator. Comparisons with existing actuators demonstrate that a robot with the proposed compliant actuators has a much lower effective mass sensed at the end-effector. Impact analysis is presented to verify the effectiveness of high torque-to-inertia ratios and low torque-to-stiffness ratios. To assess the performance of the proposed robot, a pose repeatability experiment is conducted, which shows that the end-effector position control precision is comparable to existing stiff robots despite the inherent compliance of the actuators. These compliant actuators can be used to build various human-friendly robots and are expected to improve the safety and reliability of human-robot interaction.
Subjects
Back-drivability
Compliant Actuator
Head Injury Criterion
Human-robot Interaction
Repeatability
Torque-to-inertia Ratio
Torque-to-stiffness Ratio
Actuators
Brushless Dc Motors
Compliance Control
Man Machine Systems
Position Control
Stiffness
Torque
Back-drivability
Brushless Motors
Collisions Avoidance
Compliant Actuator
Head
Head Injuries
Head Injury Criteria
Humans-robot Interactions
Inertia Ratio
Injury
Injury Criterion
Repeatability
Robot Sensing System
Stiffness Ratios
Torque-to-inertia Ratio
Torque-to-stiffness Ratio
Human Robot Interaction
SDGs
Publisher
Institute of Electrical and Electronics Engineers Inc.
Type
journal article