A new hybrid actuation scheme with artificial pneumatic muscles and a magnetic particle brake for safe human-robot collaboration
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Shin, Dongjun | - |
dc.contributor.author | Yeh, Xiyang | - |
dc.contributor.author | Khatib, Oussama | - |
dc.date.available | 2019-03-08T22:01:06Z | - |
dc.date.issued | 2014-04 | - |
dc.identifier.issn | 0278-3649 | - |
dc.identifier.issn | 1741-3176 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/12373 | - |
dc.description.abstract | Interest in the field of human-centered robotics continues to grow, particularly in utilizing pneumatic artificial muscles (PAMs) for close human-robot collaborations. Addressing the limited control performance of PAMs, we proposed a hybrid actuation scheme that combines PAMs (macro) and a low-inertia DC motor (mini). While the scheme has shown significantly improved control performance and robot safety, a small DC motor has difficulties in handling the large stored energies of the PAMs, particularly for large changes in initial load due to PAM failure. In order to further improve robot safety, we develop a new hybrid actuation scheme with PAMs (macro) and a particle brake (mini). This design allows for a higher torque-to-weight ratio and inherently stable energy dissipation. Addressing optimal mini actuation selection between a motor and a brake, and a control strategy for PAMs and a brake, we conducted comparative studies of hybrid actuations with (1) a DC motor and (2) a brake for concept validation. Experimental comparisons show that the hybrid actuation with PAMs and a brake provides higher energy efficiency for control bandwidths under 2 Hz, and more effective reduction of large impact forces due to the brake's high torque capacity and passive energy dissipation. | - |
dc.format.extent | 12 | - |
dc.language | 영어 | - |
dc.language.iso | ENG | - |
dc.publisher | SAGE PUBLICATIONS LTD | - |
dc.title | A new hybrid actuation scheme with artificial pneumatic muscles and a magnetic particle brake for safe human-robot collaboration | - |
dc.type | Article | - |
dc.identifier.doi | 10.1177/0278364913509858 | - |
dc.identifier.bibliographicCitation | INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, v.33, no.4, pp 507 - 518 | - |
dc.description.isOpenAccess | N | - |
dc.identifier.wosid | 000335548200003 | - |
dc.identifier.scopusid | 2-s2.0-84900445451 | - |
dc.citation.endPage | 518 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 507 | - |
dc.citation.title | INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | - |
dc.citation.volume | 33 | - |
dc.type.docType | Article; Proceedings Paper | - |
dc.publisher.location | 영국 | - |
dc.subject.keywordAuthor | Mechanism design | - |
dc.subject.keywordAuthor | novel actuator | - |
dc.subject.keywordAuthor | robot safety | - |
dc.subject.keywordAuthor | physical human-robot interaction | - |
dc.subject.keywordPlus | HUMAN-FRIENDLY ROBOT | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordPlus | DISPLAY | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.description.journalRegisteredClass | sci | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
84, Heukseok-ro, Dongjak-gu, Seoul, Republic of Korea (06974)02-820-6194
COPYRIGHT 2019 Chung-Ang University All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.