Toward Inherently Safer Human-Robot Interaction Using Compliant Actuators With High Torque-to-Inertia Ratios and Low Torque-to-Stiffness Ratios

Toward Inherently Safer Human-Robot Interaction Using Compliant Actuators With High Torque-to-Inertia Ratios and Low Torque-to-Stiffness Ratios

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 excess...

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Bibliographic Details
Main Authors: Chen-Pin Yu, Chun-Hung Huang, Chao-Chieh Lan
Format: Article
Language:English
Published: IEEE 2023-01-01
Series:IEEE Access
Subjects:
Compliant actuator
human-robot interaction
torque-to-inertia ratio
torque-to-stiffness ratio
back-drivability
head injury criterion
Online Access:https://ieeexplore.ieee.org/document/10286038/

Internet

https://ieeexplore.ieee.org/document/10286038/

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