01585nas a2200265 4500008004100000245007700041210006900118300000900187520075100196653002100947653004400968653001301012100001501025700001401040700001701054700001701071700001701088700001501105700001801120700001201138700001501150700001101165700001601176856012701192 2008 eng d00aPhysical Human-Robot Interaction: Dependability, Safety, and Performance0 aPhysical HumanRobot Interaction Dependability Safety and Perform a9-143 a
In this paper we discuss the problem of achieving good performance in accuracy and promptness by a robot manipulator under the condition that safety is guaranteed throughout task execution. Intuitively, while a rigid and powerful structure of the arm would favor its performance, lightweight compliant structures are more suitable for safe operation. The quantitative analysis of the resulting design trade-off between safety and performance has a strong impact on how robot mechanisms and controllers should be designed for human-interactive applications. We discuss few different possible concepts for safely actuating joints, and focus on aspects related to the implementation of the mechanics and control of this new class of robots.
10aEmbedded Control10aPhysical Human-Robot Interaction (pHRI)10aRobotics1 aBicchi, A.1 aBavaro, M1 aBoccadamo, G1 aCarli, De, D1 aFilippini, R1 aGrioli, G.1 aPiccigallo, M1 aRosi, A1 aSchiavi, R1 aSen, S1 aTonietti, G uhttps://www.centropiaggio.unipi.it/publications/physical-human-robot-interaction-dependability-safety-and-performance.html