Arm-Mounted Assistive Robot for Measuring Contact Force and Evaluating Wearer Safety
We developed a wearable assistive robot that directly measures the contact force acting between the robot and the human body, aiming to enhance the safety of such wearable devices. The force acting on the body is not directly measured, instead, it is estimated by measuring the torque acting on the r...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10285093/ |
| _version_ | 1797649798930628608 |
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| author | Shinichi Masaoka Yuki Funabora Shinji Doki |
| author_facet | Shinichi Masaoka Yuki Funabora Shinji Doki |
| author_sort | Shinichi Masaoka |
| collection | DOAJ |
| description | We developed a wearable assistive robot that directly measures the contact force acting between the robot and the human body, aiming to enhance the safety of such wearable devices. The force acting on the body is not directly measured, instead, it is estimated by measuring the torque acting on the robot joint in the wearable assistive robot. Despite the risk of failing to recognize dangerous forces due to modeling errors, the forces actually at work have not been examined. Here, we developed an arm-mounted assistive robot that directly measures the contact force as the distribution information to build a system and evaluate safety; in addition, the contact state between the robot and the human body was discussed. Accordingly, two experiments were conducted with 10 subjects. The first verified the contact force measurement performance of the robot, while the second demonstrated the application of contact force information to check the safety of the robot. The proposed robot can accurately measure the contact force, and the robot movement is safe under general control, for example, using the pain tolerance limit as the safety index. This eliminated the risk of not directly monitoring the forces acting on the surface of the human body. Furthermore, our result have implication for evaluating structural problems of the robot by evaluating contact conditions during movements. |
| first_indexed | 2024-03-11T15:51:13Z |
| format | Article |
| id | doaj.art-a9dd249a730d4301a917b32763f019e4 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-11T15:51:13Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-a9dd249a730d4301a917b32763f019e42023-10-25T23:01:18ZengIEEEIEEE Access2169-35362023-01-011111485511486310.1109/ACCESS.2023.332441710285093Arm-Mounted Assistive Robot for Measuring Contact Force and Evaluating Wearer SafetyShinichi Masaoka0https://orcid.org/0000-0002-1617-4502Yuki Funabora1https://orcid.org/0000-0003-1477-9273Shinji Doki2https://orcid.org/0000-0002-3850-0321Department of Information and Communication Engineering, Graduate School of Engineering, Nagoya University, Chikusa-Ku, Nagoya, Aichi, JapanDepartment of Information and Communication Engineering, Graduate School of Engineering, Nagoya University, Chikusa-Ku, Nagoya, Aichi, JapanDepartment of Information and Communication Engineering, Graduate School of Engineering, Nagoya University, Chikusa-Ku, Nagoya, Aichi, JapanWe developed a wearable assistive robot that directly measures the contact force acting between the robot and the human body, aiming to enhance the safety of such wearable devices. The force acting on the body is not directly measured, instead, it is estimated by measuring the torque acting on the robot joint in the wearable assistive robot. Despite the risk of failing to recognize dangerous forces due to modeling errors, the forces actually at work have not been examined. Here, we developed an arm-mounted assistive robot that directly measures the contact force as the distribution information to build a system and evaluate safety; in addition, the contact state between the robot and the human body was discussed. Accordingly, two experiments were conducted with 10 subjects. The first verified the contact force measurement performance of the robot, while the second demonstrated the application of contact force information to check the safety of the robot. The proposed robot can accurately measure the contact force, and the robot movement is safe under general control, for example, using the pain tolerance limit as the safety index. This eliminated the risk of not directly monitoring the forces acting on the surface of the human body. Furthermore, our result have implication for evaluating structural problems of the robot by evaluating contact conditions during movements.https://ieeexplore.ieee.org/document/10285093/Assistive robotcontact force distributionexoskeletonwearable robot |
| spellingShingle | Shinichi Masaoka Yuki Funabora Shinji Doki Arm-Mounted Assistive Robot for Measuring Contact Force and Evaluating Wearer Safety IEEE Access Assistive robot contact force distribution exoskeleton wearable robot |
| title | Arm-Mounted Assistive Robot for Measuring Contact Force and Evaluating Wearer Safety |
| title_full | Arm-Mounted Assistive Robot for Measuring Contact Force and Evaluating Wearer Safety |
| title_fullStr | Arm-Mounted Assistive Robot for Measuring Contact Force and Evaluating Wearer Safety |
| title_full_unstemmed | Arm-Mounted Assistive Robot for Measuring Contact Force and Evaluating Wearer Safety |
| title_short | Arm-Mounted Assistive Robot for Measuring Contact Force and Evaluating Wearer Safety |
| title_sort | arm mounted assistive robot for measuring contact force and evaluating wearer safety |
| topic | Assistive robot contact force distribution exoskeleton wearable robot |
| url | https://ieeexplore.ieee.org/document/10285093/ |
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