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Lab Presentation

Lab Presentation. 12/10/2010. Safer Human Robot Interaction through Compliance in Design. Compliance via pneumatic actuators Inertia reduction Inertia decoupling Compliance via soft covering Peak force reduction Capacitative sensing skin Research Goal

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Lab Presentation

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  1. Lab Presentation 12/10/2010

  2. Safer Human Robot Interaction through Compliance in Design • Compliance via pneumatic actuators • Inertia reduction • Inertia decoupling • Compliance via soft covering • Peak force reduction • Capacitative sensing skin • Research Goal • Investigate these effects on impact forces ->injury

  3. Robot arm Target

  4. System Equations of Motion

  5. Effect of Stiffness Source 6 Hz 30 Hz • Test Conclusions • Mini does not increase peak forces significantly while vastly improving performance • Pressure has little effect on peak forces

  6. Limitations • Fragile • One of kind • Limited travel • Limited end tip velocity (0.5 m/s)

  7. Goals • Does joint stiffness effect collision? • Can skin sensor pick detect collision?

  8. Distal link Torque spring Piece of tape JR3 sensor

  9. Cushion layer shield Sensor strip

  10. Preliminary Results 2 m/s, k = 27.793 N mm/deg 2 m/s, k = 0.395 N mm/deg

  11. JR3 Data 2 m/s, k = 27.793 N mm/deg 2 m/s, k = 0.395 N mm/deg

  12. To do: • Find optimal frequency division • Noise vs response • Improve experimental setup • Ensure configuration • Stiffen target • Find optimal skin thickness

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