A physical interference adapting hardware system using MIA arm and humanoid surface covers
A physical interference adapting hardware system using MIA arm and humanoid surface covers
复制标题
使用MIA手臂和人形表面盖的物理干扰适应硬件系统
DOI：
10.1109/iros.1999.812845
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
S. Sugano
中科院分区：
文献类型：
--
作者：
H. Iwata;H. Hoshino;T. Morita;S. Sugano
在本文中，一个全面的新概念，涉及的情况下，机器人与人的物理接触，如触觉接触和碰撞，这是命名为物理干扰（PIF）。为了实现与人的PIF适应，需要机器人识别与人的PIF，并确保人的安全。首先，指定了PIF与人的信息，以便详细识别PIF。其次，提出并研制了一种由机械被动柔顺臂和粘弹性材料覆盖物PIF识别组成的混合PIF自适应硬件系统。最后，为了评估硬件系统，适应PIF与人类，使用配备有MIA（机械阻抗调节器）的手臂和开发的表面覆盖物，进行了实验。从评估实验的结果，开发的硬件系统的有效性基本PIF适应与人类被证实。
In this paper, a comprehensive new concept concerning situations where robots physically contact with human such as tactile contacts and collisions is proposed, which is named physical interference (PIF). In order to realize PIF adaptation with human, it is required for robots to recognize PIF with human as well as secure human safety. First, information of PIF with human for recognizing PIF in detail is specified. Next, a hybrid PIF adapting hardware system composed of a mechanical passive compliant arm and PIF recognizing covers with viscoelastic materials is proposed and was developed. Finally, in order to evaluate the hardware system, experiments of adapting to PIF with human, using an arm equipped with MIA (mechanical impedance adjuster) and the developed surface covers, were carried out. From the results of the evaluation experiments, the validity of the developed hardware system for basic PIF adaptation with human was confirmed.