New insights concerning intrinsic joint elasticity for safety

In this paper we present various new insights on the effect intrinsic joint elasticity has on safety in pHRI. We address the fact that the intrinsic safety of elastic mechanisms has been discussed rather one sided in favor of this new designs and intend to give a more differentiated view on the prob...

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Bibliographic Details
Published in2010 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2181 - 2187
Main Authors Haddadin, S, Albu-Schaffer, A, Eiberger, O, Hirzinger, G
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2010
Subjects
Humans
Injuries
Joints
Robot sensing systems
Safety
Torque
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ISBN9781424466740
1424466741
ISSN2153-0858
DOI10.1109/IROS.2010.5652037

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Summary:In this paper we present various new insights on the effect intrinsic joint elasticity has on safety in pHRI. We address the fact that the intrinsic safety of elastic mechanisms has been discussed rather one sided in favor of this new designs and intend to give a more differentiated view on the problem. An important result is that intrinsic joint elasticity does not reduce the Head Injury Criterion or impact forces compared to conventional actuation with some considerable elastic behavior in the joint, if considering full scale robots. We also elaborate conditions under which intrinsically compliant actuation is potentially more dangerous than rigid one. Furthermore, we present collision detection and reaction schemes for such mechanisms and verify their effectiveness experimentally.
ISBN:9781424466740
1424466741
ISSN:2153-0858
DOI:10.1109/IROS.2010.5652037