In this paper, different measures for reducing the maximum contact force during blunt collisions between a robot and a human are evaluated using simulations. An existing collision model is adapted to include a nonlinear compliant covering, articular safety mechanisms (compliant joint and two types of torque limiters), and a collision detection system. Several scenarios are simulated in which the collision occurs at a low or high velocity, the head of the person (on which the collision occurs) is constrained by a wall or free to move and the reflected motor inertia is large or small compared to the link inertia. The results show that a torque limiter in series with each actuator has the potential to significantly improve safety without reducing the robot's performances.
A Comparison of the Effectiveness of Design Approaches for Human-Friendly Robots
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received December 1, 2014; final manuscript received April 30, 2015; published online June 16, 2015. Assoc. Editor: Ettore Pennestri.
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Lauzier, N., and Gosselin, C. (August 1, 2015). "A Comparison of the Effectiveness of Design Approaches for Human-Friendly Robots." ASME. J. Mech. Des. August 2015; 137(8): 082302. https://doi.org/10.1115/1.4030649
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