By Topic

Physical human-robot interaction: Dependability, safety, and performance

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

11 Author(s)
Bicchi, A. ; Interdepartmental Res. Centre "E. Piaggio ", Univ. of Pisa, Pisa ; Bavaro, M. ; Boccadamo, G. ; De Carli, D.
more authors

Robots designed to share an environment with humans, such as e.g. in domestic or entertainment applications or in cooperative material-handling tasks, must fulfill different requirements from those typically met in industry. It is often the case, for instance, that accuracy requirements are less demanding. On the other hand, concerns of paramount importance are safety and dependability of the robot system. According to such difference in requirements, it can be expected that usage of conventional industrial arms for anthropic environments will be far from optimal. An approach to increase the safety level of robot arms interacting with humans consists in the introduction of compliance at the mechanical design level. In this paper we discuss the problem of achieving good performances in accuracy and promptness with a robot manipulator under the condition that safety is guaranteed throughout whole task execution. Intuitively, while a rigid and powerful structure of the arm would favor its performance, lightweight compliant structures are more suitable for safe operation. The quantitative analysis of the resulting design trade-off between safety and performance has a strong impact on how robot mechanisms and controllers should be designed for human- interactive applications. We discuss few different possible concepts for safely actuating joints, and focus on aspects related to the implementation of the mechanics and control of this new class of robots.

Published in:

Advanced Motion Control, 2008. AMC '08. 10th IEEE International Workshop on

Date of Conference:

26-28 March 2008