An active-passive variable stiffness elastic actuator for safety robot systems

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 3664-3669

  Wang, Ren Jeng ^a   Huang, Han Pang ^a  

^a NATIONAL TAIWAN UNIVERSITY   (Taiwan)

Author keywords

[No Author keywords available]

Indexed keywords

FUNDAMENTAL PROBLEM; IMPACT FORCE; NONLINEAR SPRINGS; PRECISE POSITION; PRELOADS; RIGID LINKS; ROBOT SYSTEM; ROBOTIC APPLICATIONS; ROBOTIC SYSTEMS; SAFE HUMAN-ROBOT INTERACTION; SAFETY CONSTRAINT; TRAJECTORY TRACKING CONTROL; VARIABLE STIFFNESS;

ACTUATORS; HUMAN ROBOT INTERACTION; POSITION MEASUREMENT; ROBOTICS; STIFFNESS;

INTELLIGENT ROBOTS;

EID: 78651506122     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5652769     Document Type: Conference Paper

References (16)

1. A. L. Edsinger, "Robot Manipulation in Human Environments," Doctoral Dissertation, Department of Electrical Engineering and Computer Scienc, Massachusetts Institute of Technology, 2007
2. J. Versace, "A Review of the Severity Index," in Proceeding of the 15th Stapp Car Crash Conference, pp. 771-796, 1971.
3. A. Bicchi and G. Tonietti, "Fast and Soft-arm Tactics," IEEE Robotics and Automation Magazine, vol. 11, pp. 22-33, 2004.
4. J. W. Sensinger and R. F. Weir, "Design and Analysis of a Non-backdrivable Series Elastic Actuator," Chicago, IL, United States, vol. 2005, pp. 390-393, 2005..
5. E. a. B. Torres-Jara, J. , "A Simple and Scalable Force Actuator," in Proceeding of the 35th International Symposioum on Robotics, 2004.
6. G. Wyeth, "Demonstrating the safety and performance of a velocity sourced series elastic actuator," in Proceedings of the IEEE International Conference On Robotics and Automation, Pasadena, CA, USA, May 2008, pp. 3642-3647.
7. J. J. Park, Y. J. Lee, J. B. Song, and H. S. Kim, "Safe joint mechanism based on nonlinear stiffness for safe human-robot collision," in Proceedings of the IEEE International Conference On Robotics and Automation, Pasadena, CA, USA, May 2008, pp. 2177-2182.
8. K. S. Kim, J. J. Park and J. B. Song, "Safe joint mechanism using double slider mechanism and spring for humanoid robot arm," in Proceedings of the 8th IEEE-RAS International Conference On Human Robots, Daejeon, Korea, December 1-3, 2008, pp. 73-78.
9. J. J. Park, B. S. Kim, J. B. Song and H. S. Kim, "Safe Link Mechanism based on Passive Compliance for Safe Human Robot Collision," in Proceedings of the IEEE International Conference On Robotics and Automation, Roma, Italy, April 2007, pp. 1152-1157.
10. J. J. Park, H. S. Kim, J. B. Song and H. S. Kim, "Safe robot arm with safe joint mechanism using nonlinear spring system for collision safety," in Proceedings of the IEEE International Conference On Robotics and Automation Kobe Internal Conference Center, Kobe, Japan, May 2009, pp. 3371-3376.
11. N. G. Tsagarakis, M. Laffranchi, B. Vanderborght and D. G. Caldwell, " A Compact Soft Actuator Unit for Small Scale Human Friendly robot," in Proceedings of the IEEE International Conference On Robotics and Automation Kobe Internal Conference Center, Kobe, Japan, May 2009, pp. 4356-4362.
12. S. A. Migliore, E. A. Brown and S. P. D. Weerth, "Biologically Inspired jpint stiffness control," in Proceedings of the IEEE International Conference On Robotics and Automation, Barcelona, Spain, April 2005, pp. 4508-4513.
13. S. Wolf and G. Hirzinger, "A new variable stiffness design Matching requirements of the next robot generation," in Proceedings of the IEEE International Conference On Robotics and Automation, Pasadena, CA, USA, May 2008, pp. 1741-1746.
14. J. Choi, S. Hong, W. Lee and S. Kang, "A variable stiffness joint using leaf springs for robot manipulators," in Proceedings of the IEEE International Conference On Robotics and Automation Kobe Internal Conference Center, Kobe, Japan, May 2009, pp. 4363-4368.
15. R. Ghorbani and Q. Wu, "Closed loop control of an intentionally adjustable compliant actuator," in Proceedings of American Control Conference, Minneapolis, Minnesota, USA, June 2006, pp. 3235-3240.
16. N. Saga, T. Saikawa and H. Okano, "Flexor mechanism of robot arm using pneumatic muscle actuators," in Proceedings of the IEEE International Conference On Mechatronics & Automation, Niagara Falls, Canada, July 2005, pp. 1261-1266.