Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks

Author:

Regmi Sambad1,Song Yun Seong1

Affiliation:

1. Department of Mechanical and Aerospace Engineering, Missouri University of Science and Technology, Rolla, MO 65401

Abstract

Abstract We present a new design method that is tailored for designing a physical interactive robotic arm for overground physical interaction. Designing such robotic arms present various unique requirements that differ from existing robotic arms, which are used for general manipulation, such as being able to generate required forces at every point inside the workspace and/or having low intrinsic mechanical impedance. Our design method identifies these requirements and categorizes them into kinematic and dynamic characteristics of the robot and then ensures that these unique considerations are satisfied in the early design phase. The robot’s capability for use in such tasks is analyzed using mathematical simulations of the designed robot, and discussion of its dynamic characteristics is presented. With our proposed method, the robot arm is ensured to perform various overground interactive tasks with a human.

Publisher

ASME International

Subject

Mechanical Engineering

Reference39 articles.

Cited by 6 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Stretch with Stretch: Physical Therapy Exercise Games Led by a Mobile Manipulator;2024 IEEE International Conference on Robotics and Automation (ICRA);2024-05-13

2. Validation of the Human Arm Stiffness Estimation Method Developed for Overground Physical Interaction Experiments;2023 45th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC);2023-07-24

3. A robot for overground physical human-robot interaction experiments;PLOS ONE;2022-11-10

4. Humans modulate arm stiffness to facilitate motor communication during overground physical human-robot interaction;Scientific Reports;2022-11-05

5. Subtask-learning based for robot self-assembly in flexible collaborative assembly in manufacturing;The International Journal of Advanced Manufacturing Technology;2022-04-19

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