Journal ArticleDOI
The Safety of a Robot Actuated by Pneumatic Muscles—A Case Study
Michael Van Damme,Pieter Beyl,Bram Vanderborght,Rino Versluys,Ronald Van Ham,Innes Vanderniepen,Frank Daerden,Dirk Lefeber +7 more
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TLDR
A study of the safety of a lightweight robot actuated by pneumatic muscles that has excellent hardware safety characteristics, but it is shown that the system can be unsafe when under PID control and safety can be greatly increased by using Proxy-Based Sliding Mode Control.Abstract:
In situations where robots share their workspace with humans, and where physical human-robot interaction is possible or even necessary, safety is of paramount importance. This paper presents a study of the safety of a lightweight robot actuated by pneumatic muscles. Due to its low weight, it has excellent hardware safety characteristics. In spite of this, it is shown that the system can be unsafe when under PID control. It is also shown that safety can be greatly increased by using Proxy-Based Sliding Mode Control (PSMC). The role of passive compliance in safety is also investigated. It is argued that passive compliance can have positive as well as negative effects on robot safety, depending on the situation.read more
Citations
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Journal ArticleDOI
A review on self-healing polymers for soft robotics
Seppe Terryn,Jakob Langenbach,Ellen Roels,Joost Brancart,Camille Bakkali-Hassani,Quentin Arthur Poutrel,Antonia Georgopoulou,Antonia Georgopoulou,Thomas George Thuruthel,Ali Safaei,Pasquale Ferrentino,Tutu Sebastian,Sophie Norvez,Fumiya Iida,Anton W. Bosman,François Tournilhac,Frank Clemens,Guy Van Assche,Bram Vanderborght +18 more
TL;DR: Criteria to evaluate the potential of a self- healing polymer to be used in soft robotic applications is proposed and the different types of self-healing polymers already available in literature are critically assessed and compared.
Journal ArticleDOI
Human-robot interaction: kinematics and muscle activity inside a powered compliant knee exoskeleton.
TL;DR: It seems that the differences between the parameter settings of low and high compliant control might not be sufficient to observe clear effects in healthy subjects, in contradiction with the hypothesis that muscle activity would decrease with increasing assistance.
Journal ArticleDOI
Recent trends for practical rehabilitation robotics, current challenges and the future.
TL;DR: Some of the commercialized robots presented in this paper are well known especially to robotics engineers and scholars in the robotic field, but are less known to humanities scholars.
Journal ArticleDOI
Processing of Self-Healing Polymers for Soft Robotics.
Ellen Roels,Seppe Terryn,Fumiya Iida,Anton W. Bosman,Sophie Norvez,Frank Clemens,Guy Van Assche,Bram Vanderborght,Joost Brancart +8 more
TL;DR: In this paper, a wide variety of processing techniques of self-healing polymers for robotics available in the literature is reviewed, and limitations and opportunities discussed thoroughly based on defined requirements for soft robots, these techniques are critically compared and validated.
Journal ArticleDOI
Development of a self-healing soft pneumatic actuator: a first concept.
TL;DR: This paper proposes to integrate a self- healing (SH-) mechanism in SPAs, such that cuts, tears and perforations in the actuator can be self-healed, and develops a multi-cell prototype, the first SPA ever built completely out of SH-polymers.
References
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Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Journal ArticleDOI
Basic concepts and taxonomy of dependable and secure computing
TL;DR: The aim is to explicate a set of general concepts, of relevance across a wide range of situations and, therefore, helping communication and cooperation among a number of scientific and technical communities, including ones that are concentrating on particular types of system, of system failures, or of causes of systems failures.
Basic Concepts and Taxonomy of Dependable and Secure Computing
TL;DR: In this paper, the main definitions relating to dependability, a generic concept including a special case of such attributes as reliability, availability, safety, integrity, maintainability, etc.
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Impedance Control: An Approach to Manipulation: Part I—Theory
TL;DR: It is shown that components of the manipulator impedance may be combined by superposition even when they are nonlinear, and a generalization of a Norton equivalent network is defined for a broad class of nonlinear manipulators which separates the control of motion from theControl of impedance while preserving the superposition properties of the Norton network.
Proceedings ArticleDOI
Impedance Control: An Approach to Manipulation
TL;DR: In this paper, a unified approach to kinematically constrained motion, dynamic interaction, target acquisition and obstacle avoidance is presented, which results in a unified control of manipulator behaviour.
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