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

我们的研究重点是开发一个水平的空间能力，运动安全性，把握和操纵和人类机器人的互动能力，在自主移动的机械手（AMM），远远超出了任何现有的机器人系统。这些能力包括在室内和动态环境中导航，人类四处走动，执行基本的操作任务，以及在任务中与人类交互，例如将物体从机器人转移到人类，反之亦然。这些基本功能的目标应用是服务机器人，例如，一种辅助机器人，可以帮助体弱或残疾的人（称为辅助人员或AP）独立生活，帮助完成任务，例如从家中寻找和取回物体（例如一瓶药丸）并将其交给AP（移交任务）等，以最终提高独立生活的AP日常功能的生活质量。此外，申请人之间的研究合作将为运动能力受损的人带来智能辅助设备。为此，我们要求一个具有扭矩传感器的可反向驱动臂，该臂能够进行顺应性运动。这对于人类用户的安全以及对于手臂和人之间的相互作用力的精确控制都是需要的。

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.