Safety Properties and Collision Behavior of Robotic Arms with Elastic Tendon Actuation

Applications with physical human robot interaction require a high level of safety even in case of failures. This paper shows the advantages of combining tendon actuation with series elasticity in the drivetrain to maximize safety for robotic arms while using geared electrical motors as reliable actuators. We compare the collision behavior and safety properties of elastic tendon actuation with stiff tendon actuation and series elastic joint actuation. The paper concludes with the comparison of safety properties of robotic arms in research and industry.