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Physical Human-Robot Interaction Using HandsOn-SEA: An Educational Robotic Platform With Series Elastic Actuation.

Ata Otaran, Ozan Tokatli, Volkan Patoglu

    IEEE Transactions on Haptics
    |May 19, 2021
    PubMed
    Summary

    Engineering students gain hands-on experience with physical human-robot interactions using HandsOn-SEA, a novel, low-cost educational robot. This device effectively teaches fundamental concepts and trade-offs in robotic system design and control.

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    Area of Science:

    • Robotics Education
    • Human-Robot Interaction
    • Control Systems Engineering

    Background:

    • Hands-on experience with kinesthetic feedback is vital for engineering students' proficiency in physical human-robot interactions.
    • Existing educational robots often lack the specific features needed to demonstrate fundamental performance trade-offs.
    • There is a need for accessible, force-controlled robotic devices for educational purposes.

    Purpose of the Study:

    • To introduce HandsOn-SEA, a low-cost, single degree-of-freedom, force-controlled educational robot with series elastic actuation.
    • To develop and integrate educational modules for HandsOn-SEA to teach students about robotic system performance trade-offs.
    • To provide students with practical experience in the synergistic design and control of robotic devices.

    Main Methods:

    • Designed HandsOn-SEA with a compliant element for closed-loop force control via deflection measurement.
    • Implemented HandsOn-SEA as an admittance-type robot, utilizing force feedback for safety and transparency.
    • Integrated the robot into a senior-level robotics course curriculum with usage guidelines.

    Main Results:

    • Systematic evaluation over five semesters demonstrated the device's efficacy.
    • Students gained practical understanding of fundamental concepts and trade-offs in robotic design and control.
    • HandsOn-SEA proved effective in enhancing student learning outcomes.

    Conclusions:

    • HandsOn-SEA is an effective and low-cost educational tool for teaching physical human-robot interaction.
    • The device successfully instills fundamental concepts and trade-offs in robotic system design and control.
    • The integration into the curriculum provides valuable hands-on learning experiences for engineering students.