Dual-Differential Rheological Actuator for High-Performance Physical Robotic Interaction

被引：51
作者：
Fauteux, Philippe [1 ,2 ]
Lauria, Michel [3 ]
Heintz, Benoit [1 ]
Michaud, Francois [1 ]
机构：
[1] Univ Sherbrooke, Dept Elect Engn & Comp Engn, Intelligent Interact Integrated & Interdisciplina, Sherbrooke, PQ J1K 2R1, Canada
[2] Univ Sherbrooke, Dept Mech Engn, Sherbrooke, PQ J1K 2R1, Canada
[3] Univ Appl Sci Western Switzerland, Haute Ecole Specialisee Suisse Occidentale, CH-1202 Geneva, Switzerland
来源：
IEEE TRANSACTIONS ON ROBOTICS | 2010年 / 26卷 / 04期
基金：
加拿大自然科学与工程研究理事会;
关键词：
Actuators; force and interaction control; human-robot interaction; low-impedance actuation; soft robotics; TORQUE;
D O I：
10.1109/TRO.2010.2052880
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Today's robotic systems are mostly rigid and position-controlled machines designed to operate in structured environments. To extend their application domains to partially unknown, dynamic, or anthropic environments, improved physical-interation capabilities are required. In this new context, to blend the requirements for safety, robustness, and versatility is often a challenge, in part, because commonly available actuator technologies are inadequate. This paper presents our solution with the introduction of the dual-differential rheological actuator (DDRA) concept, which is based on the synergistic combination of an electromagnetic (EM) motor and two differentially coupled magnetorheological (MR) brakes. This paper describes the approach and the prototype design. It then discusses performances in force, motion, and interaction control.
引用
收藏
页码：607 / 618
页数：12
相关论文
共 55 条
  • [11] An atlas of physical human-robot interaction
    De Santis, Agostino
    Siciliano, Bruno
    De Luca, Alessandro
    Bicchi, Antonio
    [J]. MECHANISM AND MACHINE THEORY, 2008, 43 (03) : 253 - 270
  • [12] Deffenbaugh B. W., 2004, U. S. Patent, Patent No. 6764520
  • [13] Edsinger-Gonzales A, 2004, IEEE-RAS INT C HUMAN, P273
  • [14] Eppinger S. D., 1987, Proceedings of the 1987 IEEE International Conference on Robotics and Automation (Cat. No.87CH2413-3), P904
  • [15] Dual Differential Rheological Actuator for Robotic Interaction Tasks
    Fauteux, P.
    Lauria, M.
    Legault, M. -A.
    Heintz, B.
    Michaud, F.
    [J]. 2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, 2009, : 47 - +
  • [16] Gabriel C, 2008, ACTUATOR, P489
  • [17] The role of the robot mass and velocity in physical human-robot interaction -: Part I:: Non-constrained blunt impacts
    Haddadin, Sami
    Albu-Schaeffer, Alin
    Hirzinger, Gerd
    [J]. 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2008, : 1331 - 1338
  • [18] Torque control of a rehabilitation teaching robot using magneto-rheological fluid clutches
    Hakogi, H
    Ohaba, M
    Kuramochi, N
    Yano, H
    [J]. JSME INTERNATIONAL JOURNAL SERIES B-FLUIDS AND THERMAL ENGINEERING, 2005, 48 (03) : 501 - 507
  • [19] Torque-controlled lightweight arms and articulated hands: Do we reach technological limits now?
    Hirzinger, G
    Sporer, N
    Schedl, M
    Butterfass, J
    Grebenstein, M
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2004, 23 (4-5) : 331 - 340
  • [20] IMPEDANCE CONTROL - AN APPROACH TO MANIPULATION .1. THEORY
    HOGAN, N
    [J]. JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1985, 107 (01): : 1 - 7
123456