Toward Inherently Safer Human-Robot Interaction Using Compliant Actuators With High Torque-to-Inertia Ratios and Low Torque-to-Stiffness Ratios

Chen Pin Yu, Chun Hung Huang, Chao Chieh Lan

Research output: Contribution to journalArticlepeer-review

Abstract

Existing robots rely on external sensors to detect and prevent potential human-robot collisions. However, with the growing demand for complex and high-speed human-robot interaction, robots with inherently safer actuators are becoming more desirable. Such robots offer robust protection against excessive impact force even when external sensors fail or become unavailable. Robot actuators with low reflected inertia and low effective stiffness are necessary to achieve mechanically safer human-robot interaction. This paper presents novel compliant actuators with high torque-to-inertia ratios and low torque-to-stiffness ratios without compromising the output torque and output stiffness of an actuator. Comparisons with existing actuators demonstrate that a robot with the proposed compliant actuators has a much lower effective mass sensed at the end-effector. Impact analysis is presented to verify the effectiveness of high torque-to-inertia ratios and low torque-to-stiffness ratios. To assess the performance of the proposed robot, a pose repeatability experiment is conducted, which shows that the end-effector position control precision is comparable to existing stiff robots despite the inherent compliance of the actuators. These compliant actuators can be used to build various human-friendly robots and are expected to improve the safety and reliability of human-robot interaction.

Original languageEnglish
Pages (from-to)114378-114389
Number of pages12
JournalIEEE Access
Volume11
DOIs
Publication statusPublished - 2023

All Science Journal Classification (ASJC) codes

  • General Computer Science
  • General Materials Science
  • General Engineering

Fingerprint

Dive into the research topics of 'Toward Inherently Safer Human-Robot Interaction Using Compliant Actuators With High Torque-to-Inertia Ratios and Low Torque-to-Stiffness Ratios'. Together they form a unique fingerprint.

Cite this