A hybrid actuation approach for human-friendly robot design

Safety is a critical characteristic for robots designed to operate in human environments. This paper presents the concept of hybrid actuation for the development of human- friendly robotic systems. The new design employs inherently safe pneumatic artificial muscles augmented with small electrical ac...

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Bibliographic Details
Published in2008 IEEE International Conference on Robotics and Automation pp. 1747 - 1752
Main Authors Dongjun Shin, Sardellitti, I., Khatib, O.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2008
Subjects
Actuators
Bandwidth
Frequency
Humans
Impedance
Medical robotics
Prototypes
Robotic assembly
Robots
Safety
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ISBN1424416469
9781424416462
ISSN1050-4729
DOI10.1109/ROBOT.2008.4543453

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Summary:Safety is a critical characteristic for robots designed to operate in human environments. This paper presents the concept of hybrid actuation for the development of human- friendly robotic systems. The new design employs inherently safe pneumatic artificial muscles augmented with small electrical actuators, human-bone-inspired robotic links, and newly designed distributed compact pressure regulators. The modularization and integration of the robot components enable low complexity in the design and assembly. The hybrid actuation concept has been validated on a two-degree-of-freedom prototype arm. The experimental results show the significant improvement that can be achieved with hybrid actuation over an actuation system with pneumatic artificial muscles alone. Using the manipulator safety index (MSI), the paper discusses the safety of the new prototype and shows the robot arm safety characteristics to be comparable to those of a human arm.
ISBN:1424416469
9781424416462
ISSN:1050-4729
DOI:10.1109/ROBOT.2008.4543453