Compliant human-robot object transfer based on modular 3-axis force sensor for collaborative manufacturing

Area of Science:

• Robotics
• Human-Robot Interaction
• Manufacturing Engineering

Background:

• Robot-human collaboration in manufacturing requires safe and compliant object transfer.
• Existing methods often lack the necessary sensitivity and adaptability for seamless interaction.

Purpose of the Study:

• To develop a cost-effective and compliant solution for object transfer between humans and robots.
• To enhance safety and efficiency in collaborative manufacturing tasks.

Main Methods:

• Proposed a novel modular 3-axis force sensor for interactive force sensing in grasping systems.
• Developed a compliant object transfer control strategy with incremental force control and gravity balance control modes.
• Fabricated a prototype underactuated grasping system integrated with the force sensor for experimental validation.

Main Results:

• Incremental force control mode demonstrated suitability for lighter objects requiring high interactive sensitivity.
• Gravity balance control mode proved effective for heavier objects, enabling quasi-static equilibrium and compliant transfer.
• The proposed control strategy significantly enhances object transfer compliance and safety.

Conclusions:

• The developed modular force sensor and dual-mode control strategy offer a versatile solution for human-robot object transfer.
• This approach has strong potential for improving safety and compliance in collaborative manufacturing settings.
• The findings pave the way for more integrated and intuitive human-robot collaboration.