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A hybrid actuation approach for human-friendly robot design

Dongjun Shin, Irene Sardellitti, Oussama Khatib
2008 2008 IEEE International Conference on Robotics and Automation  
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.  ...  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 humanfriendly robotic systems.  ...  The authors gratefully acknowledge the contribution of Jaeheung Park and Francois Conti at Artificial Intelligence Laboratory, Stanford University, and Prof. M.C.  ... 
doi:10.1109/robot.2008.4543453 dblp:conf/icra/ShinSK08 fatcat:6a5katn2w5afta6xb5hqbfpnom

On the Design of Human-Safe Robot Manipulators [chapter]

Vincent Duchaine, Nicolas Lauzier, Clement Gosseli
2010 Robot Manipulators New Achievements  
It can thus be concluded that the only way to obtain safe and dependable robots is to use the design strategy, which leads to the development of robots that are intrinsically safe.  ...  Review To build safe and dependable robots, engineers and researchers are using three different strategies: 1. to develop algorithms that use vision systems or proximity sensors to anticipate and avoid  ...  On the Design of Human-Safe Robot Manipulators, Robot Manipulators New Achievements, Aleksandar Lazinica and Hiroyuki Kawai (Ed.), ISBN: 978-953-307-090-2, InTech, Available from: http://www.intechopen.com  ... 
doi:10.5772/9318 fatcat:xmfyt3zydfgqlnmzkzw2ml3wym

Playing it safe

M. Zinn, O. Khatib, B. Roth, J.K. Salisbury
2004 IEEE robotics & automation magazine  
Some types of robotic manipulators-notably those utilizing compliant actuation, such as pneumatic actuators, or those employing compliant drive trains, such as a cable-driven manipulators-do not produce  ...  The solution to reducing the effective impedance, and thus improving safety, is to build a lightweight, low-inertia manipulator.  ...  The financial support of NSF grant EIA-9977717 is gratefully acknowledged. Keywords Human-friendly, low impedance, safety actuation, parallel actuation, distributed actuation.  ... 
doi:10.1109/mra.2004.1310938 fatcat:xuv2vxiamvfo3lymbb2hfjn2da

Guest Editorial Focused Section on Soft Actuators, Sensors, and Components (SASC)

K. K. Leang, F. Iida, J. Paik, Y.-L. Park, J. Ueda
2019 IEEE/ASME transactions on mechatronics  
INTRODUCTION H IGHLY deformable and soft actuators, sensors, and components (SASC) are crucial in the design and development of soft mechatronic and robotic systems that safely interact with humans and  ...  The development of SASC for mechatronic and robotic systems presents a number of challenges in materials development, mathematical modeling, mechanism design and fabrication, and control.  ... 
doi:10.1109/tmech.2019.2894821 fatcat:4hsrjse2tfayhbkke3pyl3dzfu

Probo

Kristof Goris, Jelle Saldien, Dirk Lefeber
2009 Proceedings of the 4th ACM/IEEE international conference on Human robot interaction - HRI '09  
In this paper the concept of a new social robot is presented. This robot can be used in hospitals, as a tele-interface for entertainment, communication and medical assistance.  ...  Besides the prototype of the real robot, a virtual model has been developed. With user friendly software these models can be used as an interface between an operator and a child.  ...  By use of soft and flexible materials together with compliant actuators, the design is safe and as a consequence safe human/child robot interaction is assured.  ... 
doi:10.1145/1514095.1514162 dblp:conf/hri/GorisSL09 fatcat:mu4mwwkjnbd77kiwaz5ffre4re

Safe and dependable physical human-robot interaction in anthropic domains: State of the art and challenges

R. Alami, A. Albu-Schaeffer, A. Bicchi, R. Bischoff, R. Chatila, A. De Luca, A. De Santis, G. Giralt, J. Guiochet, G. Hirzinger, F. Ingrand, V. Lippiello (+6 others)
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
robots -rigid design for accuracy, active control for safety -by creating a new paradigm: design robots that are intrinsically safe, and control them to deliver performance.  ...  PHRIENDS is about developing key components of the next generation of robots, including industrial robots and assist devices, designed to share the environment and to physically interact with people.  ...  The goal of PHRIENDS is to create and deliver new actuator concepts and prototypes, new dependable algorithms for supervision and planning, new control algorithms for handling safe human-robot physical  ... 
doi:10.1109/iros.2006.6936985 fatcat:ta67bxjwpjfv3d3t7h2ekf3pli

ECOBEE: a tool for long-term honey bee colony monitoring at the landscape scale in West European intensive agroecosystems

Jean-François Odoux, Pierrick Aupinel, Sophie Gateff, Fabrice Requier, Mickaël Henry, Vincent Bretagnolle
2014 Journal of Apicultural Research  
robots -rigid design for accuracy, active control for safety -by creating a new paradigm: design robots that are intrinsically safe, and control them to deliver performance.  ...  PHRIENDS is about developing key components of the next generation of robots, including industrial robots and assist devices, designed to share the environment and to physically interact with people.  ...  The goal of PHRIENDS is to create and deliver new actuator concepts and prototypes, new dependable algorithms for supervision and planning, new control algorithms for handling safe human-robot physical  ... 
doi:10.3896/ibra.1.53.1.05 fatcat:mejzmrgdlrgjhkqo7fkpj2g5p4

Design and Fabrication of a Robotic Arm for Material Handling

P Nageswara Rao, Anuar Ahmad, Abdul Rahman Omar, Muhammad Azmi Ayub
2005 Scientific Research Journal  
It had the ability to control 2 servo and 2 stepper motors in addition to other digital and analogue controls. Several types of sensors and actuators were used for the robot to be fully automatic.  ...  The signal conditioning circuitry was designed in house for the interfacing between sensors, actuators and controllers.  ...  This needs new drastic concept of robot development by using as many of the off the shelf components to provide the necessary flexibility and modularity [5] .  ... 
doi:10.24191/srj.v2i2.9333 fatcat:cjzi2xqcuvfhhkwlfkqlmdm4vm

A Review on Recent Advances in Soft Surgical Robots for Endoscopic Applications

M. Wildan Gifari, Hamid Naghibi, Stefano Stramigioli, Momen Abayazid
2019 International Journal of Medical Robotics and Computer Assisted Surgery  
Soft robotics has become a new approach in designing medical devices such as wearable robotic gloves and exoskeleton.  ...  With the advance in actuation and sensing of soft materials, new paradigm in robotics called "soft robotics" emerges.  ...  ACKNOWLEDGMENTS The authors would like to thank Technical Medical (TechMed) Centre, University of Twente, for their financial support to the Soft Robotics project.  ... 
doi:10.1002/rcs.2010 pmid:31069938 pmcid:PMC6771908 fatcat:5iqxpweik5cefkznff5mqko34m

Soft Robotics Technologies to Address Shortcomings in Today's Minimally Invasive Surgery: The STIFF-FLOP Approach

Matteo Cianchetti, Tommaso Ranzani, Giada Gerboni, Thrishantha Nanayakkara, Kaspar Althoefer, Prokar Dasgupta, Arianna Menciassi
2014 Soft Robotics  
The authors propose a radical change in surgical instrument design: away from rigid tools toward a new concept of soft and stiffness-controllable instruments.  ...  Then we illustrate how specific technologies can be applied in the design of a novel manipulator for flexible surgery by discussing its potential and by presenting feasibility tests of a prototype responding  ...  The concept of taking inspiration from nature to improve technology is not new: in particular, cephalopods have been studied by many scientists and engineers for the development of new soft robots.  ... 
doi:10.1089/soro.2014.0001 fatcat:pb3madqiszgnrgvgmacwk7gzsm

Soft Manipulators and Grippers: A Review

Josie Hughes, Utku Culha, Fabio Giardina, Fabian Guenther, Andre Rosendo, Fumiya Iida
2016 Frontiers in Robotics and AI  
This review paper assesses the current materials and methods, actuation methods and sensors which are used in the development of soft manipulators.  ...  This requires a paradigm shift in the methods and materials used to develop robots such that they can adapt to and work safely in human environments.  ...  Soft robots developed to date demonstrate a variety of design choices, using highly varying actuation and control methods and displaying great creativity in design.  ... 
doi:10.3389/frobt.2016.00069 fatcat:bvfbjkdowvbw5kpvpotu3kklrq

A Novel Concept for Safe, Stiffness-Controllable Robot Links

Agostino Stilli, Helge A. Wurdemann, Kaspar Althoefer
2017 Soft Robotics  
The proposed concept has the potential to easily create safe robots, augmenting traditional robot designs.  ...  This article investigates a number of link prototypes and shows the feasibility of the new concept.  ...  The authors acknowledge the King's College London, Centre for Robotic Research for the support of the experimental studies. Author Disclosure Statement No competing financial interests exist.  ... 
doi:10.1089/soro.2016.0015 pmid:29182102 fatcat:re6swbhryfflnef6f2sppfudgy

Soft assistive robot for personal care of elderly people

M. Manti, A. Pratesi, E. Falotico, M. Cianchetti, C. Laschi
2016 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)  
The authors focus on the possibility to adapt technologies and basic concepts of Soft Robotics for building a new generation of soft modular manipulator for assistive robotics that can safely come into  ...  These outcomes represent the starting point for the development of a novel modular manipulator to be used as a shower arm for bathing activities.  ...  In particular the aim is to design and develop a modular soft manipulator to be used as a shower arm. II.  ... 
doi:10.1109/biorob.2016.7523731 dblp:conf/biorob/MantiPFCL16 fatcat:e3pduhc5g5bk7otoqennviz56a

Elastic Inflatable Actuators for Soft Robotic Applications

Benjamin Gorissen, Dominiek Reynaerts, Satoshi Konishi, Kazuhiro Yoshida, Joon-Wan Kim, Michael De Volder
2017 Advanced Materials  
This emerging domain is characterized by continuous soft structures that simultaneously fulfil the role of robotic link and robotic actuator, where prime focus is on design and fabrication of the robotic  ...  Central to the development of these robots is the fabrication of soft actuators to generate movement.  ...  Acknowledgement This research is supported by the Fund for Scientific Research-Flanders (FWO), and the European Research Council (ERC starting grant HIENA).  ... 
doi:10.1002/adma.201604977 pmid:28949425 fatcat:jdpvffhkybewhflsezifrkcun4

Soft robots

Barry Trimmer
2013 Current Biology  
A new generation of caterpillar like robots is currently being fabricated using a multimaterial three-dimensional printer that is capable of assembling completely new designs on a daily basis.  ...  Clearly these soft robots are still at an early stage of development but new devices are being designed and built remarkably quickly.  ... 
doi:10.1016/j.cub.2013.04.070 pmid:23928077 fatcat:n75eezehpveffl2qlck5i7dcd4
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