Safe pHRI via the Variable Stiffness Safety-Oriented Mechanism (V2SOM): Simulation and Experimental Validations

• Published in: Applied sciences Vol. 10; no. 11; p. 3810
• Main Authors: Ayoubi, Younsse, Laribi, Med Amine, Arsicault, Marc, Zeghloul, Said
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.06.2020; Multidisciplinary digital publishing institute (MDPI)
• Subjects: 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; France; PHRI; Safety criteria; Variable stiffness actuator; V2SOM; Human-robot collisions; Friendly cobots

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...