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Importing the Human Factor into Safe Human–Robot Interaction Function Using the Bond Graph Method

Published online by Cambridge University Press:  12 August 2020

Po-Jen Cheng Open the ORCID record for Po-Jen Cheng [Opens in a new window] ,
Hsiang-Yuan Ting Open the ORCID record for Hsiang-Yuan Ting [Opens in a new window]  and
Han-Pang Huang Open the ORCID record for Han-Pang Huang [Opens in a new window]
Po-Jen Cheng
Affiliation:
Department of Product Development, TECHMAN ROBOT Inc., Taoyuan, 33383, Taiwan, R.O.C.
Hsiang-Yuan Ting
Affiliation:
Department of Mechanical Engineering, National Taiwan University, Taipei, 10617, Taiwan, R.O.C.
Han-Pang Huang*
Affiliation:
Department of Mechanical Engineering, National Taiwan University, Taipei, 10617, Taiwan, R.O.C.
*
*Corresponding author. E-mail: hanpang@ntu.edu.tw
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Summary

The variable stiffness actuator (VSA) is helpful to realize the post-collision safety strategies for safe human–robot interaction.1 The stiffness of the robot will be reduced to protect the user from injury when the collision between the robot and human occurs. However, The VSA has a mechanism limit constraint that can cause harm to users even if the stiffness is minimized. Accordingly, in this article, a concept combining danger index and robust fault detection and isolation is presented and applied to active–passive variable stiffness elastic actuator (APVSEA). APVSEA can actively change joint stiffness with the change of danger index. Experimental results show that this concept can effectively confirm the fault mode and provide additional protection measures to ensure the safety of users when the joint stiffness has been adjusted to the minimum.

Keywords

SafeHuman–robot interactionBond graph methodFault detectionVariable stiffness actuator
Type
Articles
Information
Robotica , Volume 39 , Issue 5 , May 2021 , pp. 772 - 786
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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