Playing it safe

TLDR

Human‑centered robotics requires close human‑robot interaction and prioritizes safety in manipulation systems. The study introduces the DM² actuation concept to enhance human‑friendly robot design and aims to achieve safety through comprehensive design strategies. DM² was validated on a custom two‑degree‑of‑freedom prototype arm, demonstrating that shifting actuation from joints to the base can be implemented. The approach markedly lowers impact loads during uncontrolled collisions by relocating the primary actuation effort from the joint to the base.

Abstract

We have presented a new actuation concept for human-friendly robot design, referred to as DM/sup 2/. The new concept of DM/sup 2/ was demonstrated on a two-degree-of-freedom prototype robot arm that we designed and built to validate our approach. The new actuation approach substantially reduces the impact loads associated with uncontrolled manipulator collision by relocating the major source of actuation effort from the joint to the base of the manipulator. The emerging field of human-centered robotics focuses on application such as medical robotics and service robotics, which require close interaction between robotic manipulation systems and human beings, including direct human-manipulator contact. As a result, this system must consider the requirements of safety. To achieve safety we must employ multiple strategies involving all aspects of manipulator design.