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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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10286038/ |
| _version_ | 1797653998205927424 |
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| author | Chen-Pin Yu Chun-Hung Huang Chao-Chieh Lan |
| author_facet | Chen-Pin Yu Chun-Hung Huang Chao-Chieh Lan |
| author_sort | Chen-Pin Yu |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-11T16:52:59Z |
| format | Article |
| id | doaj.art-01e6cc51c9cd47c2a76aef1846da1bfe |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-11T16:52:59Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-01e6cc51c9cd47c2a76aef1846da1bfe2023-10-20T23:00:36ZengIEEEIEEE Access2169-35362023-01-011111437811438910.1109/ACCESS.2023.332472110286038Toward Inherently Safer Human-Robot Interaction Using Compliant Actuators With High Torque-to-Inertia Ratios and Low Torque-to-Stiffness RatiosChen-Pin Yu0Chun-Hung Huang1Chao-Chieh Lan2https://orcid.org/0000-0001-8158-9846Department of Mechanical Engineering, National Cheng Kung University, Tainan, TaiwanDepartment of Mechanical Engineering, National Cheng Kung University, Tainan, TaiwanDepartment of Mechanical Engineering, National Cheng Kung University, Tainan, TaiwanExisting 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.https://ieeexplore.ieee.org/document/10286038/Compliant actuatorhuman-robot interactiontorque-to-inertia ratiotorque-to-stiffness ratioback-drivabilityhead injury criterion |
| spellingShingle | Chen-Pin Yu Chun-Hung Huang Chao-Chieh Lan Toward Inherently Safer Human-Robot Interaction Using Compliant Actuators With High Torque-to-Inertia Ratios and Low Torque-to-Stiffness Ratios IEEE Access Compliant actuator human-robot interaction torque-to-inertia ratio torque-to-stiffness ratio back-drivability head injury criterion |
| title | Toward Inherently Safer Human-Robot Interaction Using Compliant Actuators With High Torque-to-Inertia Ratios and Low Torque-to-Stiffness Ratios |
| title_full | Toward Inherently Safer Human-Robot Interaction Using Compliant Actuators With High Torque-to-Inertia Ratios and Low Torque-to-Stiffness Ratios |
| title_fullStr | Toward Inherently Safer Human-Robot Interaction Using Compliant Actuators With High Torque-to-Inertia Ratios and Low Torque-to-Stiffness Ratios |
| title_full_unstemmed | Toward Inherently Safer Human-Robot Interaction Using Compliant Actuators With High Torque-to-Inertia Ratios and Low Torque-to-Stiffness Ratios |
| title_short | Toward Inherently Safer Human-Robot Interaction Using Compliant Actuators With High Torque-to-Inertia Ratios and Low Torque-to-Stiffness Ratios |
| title_sort | toward inherently safer human robot interaction using compliant actuators with high torque to inertia ratios and low torque to stiffness ratios |
| topic | Compliant actuator human-robot interaction torque-to-inertia ratio torque-to-stiffness ratio back-drivability head injury criterion |
| url | https://ieeexplore.ieee.org/document/10286038/ |
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