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A Novel Concept for Safe, Stiffness-Controllable Robot Links.

Agostino Stilli1, Helge A Wurdemann2, Kaspar Althoefer3

  • 11 Department of Informatics, Centre for Robotics Research, King's College London , London, United Kingdom .

Soft Robotics
|November 29, 2017
PubMed
Summary

This study introduces a novel robot link with controllable stiffness, enhancing safety for human-robot interaction. The innovative design inflates to become rigid for tasks and deflates for safety when humans are near.

Keywords:
pneumatic actuationsoft roboticsvariable stiffness link

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Area of Science:

  • Robotics and Mechanical Engineering
  • Materials Science

Background:

  • Safe human-robot interaction is a growing field in robotics.
  • Existing solutions for robot safety include soft robots, continuum robots, and rigid robots with elastic joints.
  • A need exists for adaptable stiffness in robot components for versatile safety and task performance.

Purpose of the Study:

  • To propose and demonstrate a novel robot link with actively controllable stiffness.
  • To develop a robot component that can switch between high stiffness for manipulation and low stiffness for safety.
  • To investigate the feasibility and performance of this new stiffness-controllable link concept.

Main Methods:

  • Design and fabrication of a robot link utilizing an airtight chamber made of a plastic mesh and silicone wall.
  • Implementation of stiffness control by varying internal air pressure within the link.
  • Experimental testing of link prototypes to measure stiffness and axial reaction force under different pressure conditions.

Main Results:

  • Prototypes demonstrated significant stiffness controllability.
  • Achieved up to 40 N reaction force axially at 60 kPa pressure for a 25 mm diameter sample with 5 mm deformation.
  • The link exhibited rigid, beam-like behavior when pressurized and significantly reduced stiffness when depressurized.

Conclusions:

  • The proposed stiffness-controllable robot link is feasible and effective.
  • This innovation offers a promising approach to creating inherently safer robots.
  • The concept can augment traditional robot designs, improving safety without compromising task capabilities.