Safe pHRI via the Variable Stiffness Safety-Oriented Mechanism (V2SOM): Simulation and Experimental Validations
Robots are gaining a foothold day-by-day in different areas of people’s lives. Collaborative robots (cobots) need to display human-like dynamic performance. Thus, the question of safety during physical human–robot interaction (pHRI) arises. Herein, we propose making serial cobots intrinsically compl...
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| Published in | Applied sciences Vol. 10; no. 11; p. 3810 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
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| Abstract | Robots are gaining a foothold day-by-day in different areas of people’s lives. Collaborative robots (cobots) need to display human-like dynamic performance. Thus, the question of safety during physical human–robot interaction (pHRI) arises. Herein, we propose making serial cobots intrinsically compliant to guarantee safe pHRI via our novel designed device, V2SOM (variable stiffness safety-oriented mechanism). Integrating this new device at each rotary joint of the serial cobot ensures a safe pHRI and reduces the drawbacks of making robots compliant. Thanks to its two continuously linked functional modes—high and low stiffness—V2SOM presents a high inertia decoupling capacity, which is a necessary condition for safe pHRI. The high stiffness mode eases the control without disturbing the safety aspect. Once a human–robot (HR) collision occurs, a spontaneous and smooth shift to low stiffness mode is passively triggered to safely absorb the impact. To highlight V2SOM’s effect in safety terms, we consider two complementary safety criteria: impact force (ImpF) criterion and head injury criterion (HIC) for external and internal damage evaluation of blunt shocks, respectively. A pre-established HR collision model is built in Matlab/Simulink (v2018, MathWorks, France) in order to evaluate the latter criterion. This paper presents the first V2SOM prototype, with quasi-static and dynamic experimental evaluations. |
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| AbstractList | Robots are gaining a foothold day-by-day in different areas of people’s lives. Collaborative robots (cobots) need to display human-like dynamic performance. Thus, the question of safety during physical human–robot interaction (pHRI) arises. Herein, we propose making serial cobots intrinsically compliant to guarantee safe pHRI via our novel designed device, V2SOM (variable stiffness safety-oriented mechanism). Integrating this new device at each rotary joint of the serial cobot ensures a safe pHRI and reduces the drawbacks of making robots compliant. Thanks to its two continuously linked functional modes—high and low stiffness—V2SOM presents a high inertia decoupling capacity, which is a necessary condition for safe pHRI. The high stiffness mode eases the control without disturbing the safety aspect. Once a human–robot (HR) collision occurs, a spontaneous and smooth shift to low stiffness mode is passively triggered to safely absorb the impact. To highlight V2SOM’s effect in safety terms, we consider two complementary safety criteria: impact force (ImpF) criterion and head injury criterion (HIC) for external and internal damage evaluation of blunt shocks, respectively. A pre-established HR collision model is built in Matlab/Simulink (v2018, MathWorks, France) in order to evaluate the latter criterion. This paper presents the first V2SOM prototype, with quasi-static and dynamic experimental evaluations. Robots are gaining a foothold day-by-day in different areas of people's lives. Collaborative robots (cobots) need to display human-like dynamic performance. Thus, the question of safety during physical human-robot interaction (pHRI) arises. Herein, we propose making serial cobots intrinsically compliant to guarantee safe pHRI via our novel designed device, V2SOM (variable stiffness safety-oriented mechanism). Integrating this new device at each rotary joint of the serial cobot ensures a safe pHRI and reduces the drawbacks of making robots compliant. Thanks to its two continuously linked functional modes--high and low stiffness--V2SOM presents a high inertia decoupling capacity, which is a necessary condition for safe pHRI. The high stiffness mode eases the control without disturbing the safety aspect. Once a human-robot (HR) collision occurs, a spontaneous and smooth shift to low stiffness mode is passively triggered to safely absorb the impact. To highlight V2SOM's effect in safety terms, we consider two complementary safety criteria: impact force (ImpF) criterion and head injury criterion (HIC) for external and internal damage evaluation of blunt shocks, respectively. A pre-established HR collision model is built in Matlab/Simulink (v2018, Math Works, France) in order to evaluate the latter criterion. This paper presents the first V2SOM prototype, with quasi-static and dynamic experimental evaluations. Keywords: pHRI; variable stiffness actuator; V2SOM; friendly cobots; safety criteria; human-robot collisions Robots are gaining a foothold day-by-day in different areas of people's lives. Collaborative robots (cobots) need to display human-like dynamic performance. Thus, the question of safety during physical human-robot interaction (pHRI) arises. Herein, we propose making serial cobots intrinsically compliant to guarantee safe pHRI via our novel designed device, V2SOM (variable stiffness safety-oriented mechanism). Integrating this new device at each rotary joint of the serial cobot ensures a safe pHRI and reduces the drawbacks of making robots compliant. Thanks to its two continuously linked functional modes--high and low stiffness--V2SOM presents a high inertia decoupling capacity, which is a necessary condition for safe pHRI. The high stiffness mode eases the control without disturbing the safety aspect. Once a human-robot (HR) collision occurs, a spontaneous and smooth shift to low stiffness mode is passively triggered to safely absorb the impact. To highlight V2SOM's effect in safety terms, we consider two complementary safety criteria: impact force (ImpF) criterion and head injury criterion (HIC) for external and internal damage evaluation of blunt shocks, respectively. A pre-established HR collision model is built in Matlab/Simulink (v2018, Math Works, France) in order to evaluate the latter criterion. This paper presents the first V2SOM prototype, with quasi-static and dynamic experimental evaluations. |
| Audience | Academic |
| Author | Ayoubi, Younsse Arsicault, Marc Zeghloul, Said Laribi, Med Amine |
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| Cites_doi | 10.1109/ROBOT.2008.4543529 10.1016/j.mechmachtheory.2014.06.004 10.1016/j.robot.2013.06.009 10.1007/BF00197315 10.1177/0278364904042193 10.1109/IROS.2011.6094569 10.1109/MRA.2009.934824 10.1016/S1000-9361(08)60075-8 10.1109/ICRA.2011.5980303 10.1109/IROS.2016.7759071 10.1109/TMECH.2015.2501019 10.1109/ROBOT.2010.5509662 10.1177/02783649030227004 10.1109/TRO.2017.2723903 10.1109/ROBOT.2008.4543389 10.1016/j.mechmachtheory.2010.01.001 10.3390/app10072342 10.1109/MRA.2004.1310938 10.1109/TMECH.2014.2321428 10.1016/j.mechmachtheory.2016.10.017 10.1109/ROBOT.2008.4543388 10.1109/ICRA.2011.5979994 10.1115/1.4001666 10.3390/act2030059 10.1016/j.mechatronics.2012.09.011 10.1007/978-3-030-00365-4_18 10.1177/0278364914566515 |
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| Keywords | PHRI Safety criteria Variable stiffness actuator V2SOM Human-robot collisions Friendly cobots |
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| Snippet | Robots are gaining a foothold day-by-day in different areas of people’s lives. Collaborative robots (cobots) need to display human-like dynamic performance.... Robots are gaining a foothold day-by-day in different areas of people's lives. Collaborative robots (cobots) need to display human-like dynamic performance.... |
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| SubjectTerms | Acoustics Analysis Automatic Biomechanics Chemical Sciences Collaboration Computer simulation Criteria Damage assessment Decoupling Design and construction Electric power Electromagnetism Energy Engineering Sciences Fluid mechanics friendly cobots Head injuries Human subjects Human-computer interaction human–robot collisions Impact loads Internet of Things Load Material chemistry Materials and structures in mechanics Mathematical Physics Mechanics pHRI Physics Polymers Prevention Quantum Physics Reactive fluid environment Robotics Robots Safety Safety and security measures safety criteria Simulation Stiffness Thermics V2SOM variable stiffness actuator Vibrations Working conditions |
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| Title | Safe pHRI via the Variable Stiffness Safety-Oriented Mechanism (V2SOM): Simulation and Experimental Validations |
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