A 7-dof backdrivable and compliant arm for SFU Mobile Manipulator System for Physical Human Robot Interaction Tasks

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Our research focuses on developing a level of spatial competency, motion safety, grasping and manipulation and human robot interaction capability in autonomous mobile manipulators (AMM) that is well beyond that of any existing robotic systems. Such capabilities include navigating in indoor and dynamic environments with humans walking around, carrying out basic manipulation tasks and interacting with humans in tasks such as transfer of objects from robot to human and vice versa. The target application for these fundamental capabilities is service robotics, e.g., a helper robot that can assist frail or disabled persons (called Assisted Persons or APs) in independent living, helping in tasks such as finding and retrieving objects from around the home (e.g. a bottle of pills) and handing them to the AP (hand over task), etc. to ultimately improve the quality of life in daytoday functioning of an AP living independently. In addition, research collaboration among applicants will lead to smart assitive devices for people with impaired motor abilties. Toward this end, we are requesting a backdrivable arm with torque sensors that is capable of compliant motion. This is needed, both for the safety of the human user and for precise control of the interaction forces between the arm and the human.