A Limb Compliant Sensing Strategy for Robot Collision Reaction PROJECT TITLE :A Limb Compliant Sensing Strategy for Robot Collision ReactionABSTRACT:This paper introduces a compliant limb sensor (CLS) concept for collision detection throughout robot-human contact. The CLS consists of an external rigid shell compliantly connected to the robot link with collision inferred from measured shell displacements. Measuring displacement of a rigid shell allows customizable compliance and high sampling rates due to the tiny number of needed sensors. The proposed sensor is prototyped for the planar case using LED/lightweight-to-voltage (LTV) sensors for shell cause measurement and foam because the compliant link between the shell and base. A physically motivated model for the output of LED/LTV sensor pairs is formulated for the estimation of the shell pose. Voltage measurements of redundant LTVs and a calibrated shell model are used with an iterative optimization routine to estimate the shell pose at high frequencies. Sensor performance is tested using five trajectories: rest, compression, shear, rotation, and arbitrary motion. Experiments confirmed that the CLS will sense the presence, direction, and intensity of impact. The potential application of the proposed sensor to safety in physical human-robot interaction is discussed. The novel sensing methodology also enables a brand new technique of 3-D human-computer interaction because of the power to modify the compliance and operating range of the CLS. Did you like this research project? To get this research project Guidelines, Training and Code... Click Here facebook twitter google+ linkedin stumble pinterest Balancing Convergence and Diversity in Decomposition-Based Many-Objective Optimizers 43 Years of Fun Basic Plasma Physics Experiments
