TY - GEN
T1 - A hybrid actuation approach for human-friendly robot design
AU - Shin, Dongjun
AU - Sardellitti, Irene
AU - Khatib, Oussama
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=51649095972&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.2008.4543453
DO - 10.1109/ROBOT.2008.4543453
M3 - Conference contribution
AN - SCOPUS:51649095972
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1747
EP - 1752
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -