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.html01825nas a2200217 4500008004100000245007700041210006900118260003300187300001400220490000700234520109300241653004401334653001301378100001701391700001501408700001101423700001601434700001501450700001901465856012301484 2006 eng d00aOptimization and Fail-Safety Analysis of Antagonistic Actuation for pHRI0 aOptimization and FailSafety Analysis of Antagonistic Actuation f bSpringer Berlin / Heidelberg a109 - 1180 v223 aIn this paper we consider some questions in the design of actuators for physical Human-Robot Interaction (pHRI) under strict safety requirements in all circumstances, including unexpected impacts and HW/SW failures. We present the design and optimization of agonistic-antagonistic actuation systems realizing the concept of variable impedance actuation (VIA). With respect to previous results in the literature, in this paper we consider a realistic physical model of antagonistic systems, and include the analysis of the effects of cross-coupling between actuators. We show that antagonistic systems compare well with other possible approaches in terms of the achievable performance while guaranteeing limited risks of impacts. Antagonistic actuation systems however are more complex in both hardware and software than other schemes. Issues are therefore raised, as to fault tolerance and fail safety of different actuation schemes. In this paper, we analyze these issues and show that the antagonistic implementation of the VIA concept fares very well under these regards also.
10aPhysical Human-Robot Interaction (pHRI)10aRobotics1 aBoccadamo, G1 aSchiavi, R1 aSen, S1 aTonietti, G1 aBicchi, A.1 aChristensen, H uhttps://www.centropiaggio.unipi.it/publications/optimization-and-fail-safety-analysis-antagonistic-actuation-phri.html01618nas a2200265 4500008004100000245008400041210006900125520078400194653001300978100002200991700001501013700001701028700001501045700001601060700001701076700001401093700001701107700001701124700001501141700001501156700001701171700001601188700001501204856013301219 2005 eng d00aPhysical Human-Robot Interaction in Anthropic Domains: Safety and Dependability0 aPhysical HumanRobot Interaction in Anthropic Domains Safety and 3 aIn this paper we describe the motivations and the aim ofthe EURON-2 research project ``\underline{P}hysical \underline{H}uman-\underline{R}obot \underline{I}nteraction in Anthropic \underline{Dom}ains'' (PRHIDOM). This project, which moves along the lines indicated by the 1$^{st}$ IARP/IEEE-RAS Workshop on Technical Challenge for Dependable Robots in Human Environments \cite{iarp01}, is about ``charting'' the new ``territory'' of physical Human-Robot Interaction (pHRI). To ensure these goals, the integration competences in control, robotics, design and realization of mechanical systems, human-machine interaction, and in safety-dependability of mechatronic systems is required. The PHRIDOM Consortium is composed of 5 partners from 3 different European countries.
10aRobotics1 aAlbu-Schaeffer, A1 aBicchi, A.1 aBoccadamo, G1 aChatila, R1 aDe Luca, A.1 aDe Santis, A1 aGiralt, G1 aHirzinger, G1 aLippiello, V1 aMattone, R1 aSchiavi, R1 aSiciliano, B1 aTonietti, G1 aVillani, L uhttps://www.centropiaggio.unipi.it/publications/physical-human-robot-interaction-anthropic-domains-safety-and-dependability.html