DocumentCode :
1031159
Title :
Playing it safe [human-friendly robots]
Author :
Zinn, Michael ; Khatib, Oussama ; Roth, Bernard ; Salisbury, J. Kenneth
Author_Institution :
Dept. of Mech. Eng., Stanford Univ., CA, USA
Volume :
11
Issue :
2
fYear :
2004
fDate :
6/1/2004 12:00:00 AM
Firstpage :
12
Lastpage :
21
Abstract :
We have presented a new actuation concept for human-friendly robot design, referred to as DM2. The new concept of DM2 was demonstrated on a two-degree-of-freedom prototype robot arm that we designed and built to validate our approach. The new actuation approach substantially reduces the impact loads associated with uncontrolled manipulator collision by relocating the major source of actuation effort from the joint to the base of the manipulator. The emerging field of human-centered robotics focuses on application such as medical robotics and service robotics, which require close interaction between robotic manipulation systems and human beings, including direct human-manipulator contact. As a result, this system must consider the requirements of safety. To achieve safety we must employ multiple strategies involving all aspects of manipulator design.
Keywords :
actuators; flexible manipulators; man-machine systems; position control; safety; user interfaces; distributed macromini actuation; human-centered robotics; human-friendly robot design; manipulator-actuator system; robot arm; robot human interaction; robot safety; robotic manipulation system; two-degree-of-freedom prototype; Acceleration; Cable TV; Control systems; Head; Human robot interaction; Injuries; Manipulators; Medical robotics; Robotics and automation; Software safety;
fLanguage :
English
Journal_Title :
Robotics & Automation Magazine, IEEE
Publisher :
ieee
ISSN :
1070-9932
Type :
jour
DOI :
10.1109/MRA.2004.1310938
Filename :
1310938
Link To Document :
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