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

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.