Physical human interaction for an inflatable manipulator

There is a growing need for robots that can function in close proximity to human beings and also physically interact with them safely. We believe inherent safety is extremely important for robots in human environments. Towards this end, we are exploring the use of inflatable structures for manipulat...

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Published in2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society Vol. 2011; pp. 7401 - 7404
Main Authors Sanan, S., Ornstein, M. H., Atkeson, C. G.
Format Conference Proceeding Journal Article
LanguageEnglish
Published United States IEEE 01.01.2011
Subjects
Biomechanical Phenomena
Equipment Design
Humans
Joints
Manipulators
Models, Theoretical
Motion
Robot sensing systems
Robotics - instrumentation
Safety
Tendons
Thermodynamics
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ISBN9781424441211
1424441218
ISSN1094-687X
1557-170X
DOI10.1109/IEMBS.2011.6091723

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Summary:There is a growing need for robots that can function in close proximity to human beings and also physically interact with them safely. We believe inherent safety is extremely important for robots in human environments. Towards this end, we are exploring the use of inflatable structures for manipulators instead of traditional rigid structures, to improve safety in physical human robot interaction (pHRI). This paper develops a contact detection and reaction scheme for an inflatable manipulator prototype. The resulting scheme is used for physical interaction tasks with humans. Experiments verifying the efficacy of the contact detection scheme are shown using two interaction scenarios.
ISBN:9781424441211
1424441218
ISSN:1094-687X
1557-170X
DOI:10.1109/IEMBS.2011.6091723