A New Actuation Approach for Human Friendly Robot Design

In recent years, many successful robotic manipulator designs have been introduced. However, there remains the challenge of designing a manipulator that possesses the inherent safety characteristics necessary for human-centered robotics. In this paper, we present a new actuation approach that has the...

Full description

Saved in:
Bibliographic Details
Published in:The International journal of robotics research 2004-04, Vol.23 (4-5), p.379-398
Main Authors: Zinn, Michael, Roth, Bernard, Khatib, Oussama, Salisbury, J. Kenneth
Format: Article
Language:English
Subjects:
Artificial intelligence
Design engineering
Robots
Safety
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
cited_by cdi_FETCH-LOGICAL-c434t-b2b4b5504283cb3d40f22629362f23724881b377403ffbb5ad3d6e0d41bfbee83
cites cdi_FETCH-LOGICAL-c434t-b2b4b5504283cb3d40f22629362f23724881b377403ffbb5ad3d6e0d41bfbee83
container_end_page 398
container_issue 4-5
container_start_page 379
container_title The International journal of robotics research
container_volume 23
creator Zinn, Michael
Roth, Bernard
Khatib, Oussama
Salisbury, J. Kenneth
description In recent years, many successful robotic manipulator designs have been introduced. However, there remains the challenge of designing a manipulator that possesses the inherent safety characteristics necessary for human-centered robotics. In this paper, we present a new actuation approach that has the requisite characteristics for inherent safety while maintaining the performance expected of modern designs. By drastically reducing the effective impedance of the manipulator while maintaining high-frequency torque capability, we show that the competing design requirements of performance and safety can be successfully integrated into a single manipulation system.
doi_str_mv 10.1177/0278364904042193
format article
fullrecord <record><control><sourceid>proquest_cross</sourceid><recordid>TN_cdi_proquest_miscellaneous_28298468</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sage_id>10.1177_0278364904042193</sage_id><sourcerecordid>28298468</sourcerecordid><originalsourceid>FETCH-LOGICAL-c434t-b2b4b5504283cb3d40f22629362f23724881b377403ffbb5ad3d6e0d41bfbee83</originalsourceid><addsrcrecordid>eNqNkE1LAzEYhIMoWKt3j8GDt9V8bT6OS7UqFAXRc0h2k7plu6nJLtJ_b0oFoSB4eg_zzDDvAHCJ0Q3GQtwiIiTlTCGGGMGKHoEJFgwXFAt-DCY7udjpp-AspRVCiHKkJkBW8Nl9waoeRjO0oYfVZhODqT-gDxE-jmvTw3lsXd90W_gabBjgnUvtsj8HJ950yV383Cl4n9-_zR6LxcvD06xaFDWjbCgsscyWZe4kaW1pw5AnhBNFOfGECsKkxJYKwRD13trSNLThDjUMW2-dk3QKrve5udbn6NKg122qXdeZ3oUxaSKJkoz_CxSkpDiDVwfgKoyxz09oQpRSZd4qQ2gP1TGkFJ3Xm9iuTdxqjPRucH04eLYUe0syS_eb-Sf_DViqfLA</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>229995027</pqid></control><display><type>article</type><title>A New Actuation Approach for Human Friendly Robot Design</title><source>SAGE</source><creator>Zinn, Michael ; Roth, Bernard ; Khatib, Oussama ; Salisbury, J. Kenneth</creator><creatorcontrib>Zinn, Michael ; Roth, Bernard ; Khatib, Oussama ; Salisbury, J. Kenneth</creatorcontrib><description>In recent years, many successful robotic manipulator designs have been introduced. However, there remains the challenge of designing a manipulator that possesses the inherent safety characteristics necessary for human-centered robotics. In this paper, we present a new actuation approach that has the requisite characteristics for inherent safety while maintaining the performance expected of modern designs. By drastically reducing the effective impedance of the manipulator while maintaining high-frequency torque capability, we show that the competing design requirements of performance and safety can be successfully integrated into a single manipulation system.</description><identifier>ISSN: 0278-3649</identifier><identifier>EISSN: 1741-3176</identifier><identifier>DOI: 10.1177/0278364904042193</identifier><identifier>CODEN: IJRREL</identifier><language>eng</language><publisher>London: SAGE Publications</publisher><subject>Artificial intelligence ; Design engineering ; Robots ; Safety</subject><ispartof>The International journal of robotics research, 2004-04, Vol.23 (4-5), p.379-398</ispartof><rights>Copyright SAGE PUBLICATIONS, INC. Apr 2004</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c434t-b2b4b5504283cb3d40f22629362f23724881b377403ffbb5ad3d6e0d41bfbee83</citedby><cites>FETCH-LOGICAL-c434t-b2b4b5504283cb3d40f22629362f23724881b377403ffbb5ad3d6e0d41bfbee83</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,780,784,27924,27925,79364</link.rule.ids></links><search><creatorcontrib>Zinn, Michael</creatorcontrib><creatorcontrib>Roth, Bernard</creatorcontrib><creatorcontrib>Khatib, Oussama</creatorcontrib><creatorcontrib>Salisbury, J. Kenneth</creatorcontrib><title>A New Actuation Approach for Human Friendly Robot Design</title><title>The International journal of robotics research</title><description>In recent years, many successful robotic manipulator designs have been introduced. However, there remains the challenge of designing a manipulator that possesses the inherent safety characteristics necessary for human-centered robotics. In this paper, we present a new actuation approach that has the requisite characteristics for inherent safety while maintaining the performance expected of modern designs. By drastically reducing the effective impedance of the manipulator while maintaining high-frequency torque capability, we show that the competing design requirements of performance and safety can be successfully integrated into a single manipulation system.</description><subject>Artificial intelligence</subject><subject>Design engineering</subject><subject>Robots</subject><subject>Safety</subject><issn>0278-3649</issn><issn>1741-3176</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2004</creationdate><recordtype>article</recordtype><recordid>eNqNkE1LAzEYhIMoWKt3j8GDt9V8bT6OS7UqFAXRc0h2k7plu6nJLtJ_b0oFoSB4eg_zzDDvAHCJ0Q3GQtwiIiTlTCGGGMGKHoEJFgwXFAt-DCY7udjpp-AspRVCiHKkJkBW8Nl9waoeRjO0oYfVZhODqT-gDxE-jmvTw3lsXd90W_gabBjgnUvtsj8HJ950yV383Cl4n9-_zR6LxcvD06xaFDWjbCgsscyWZe4kaW1pw5AnhBNFOfGECsKkxJYKwRD13trSNLThDjUMW2-dk3QKrve5udbn6NKg122qXdeZ3oUxaSKJkoz_CxSkpDiDVwfgKoyxz09oQpRSZd4qQ2gP1TGkFJ3Xm9iuTdxqjPRucH04eLYUe0syS_eb-Sf_DViqfLA</recordid><startdate>200404</startdate><enddate>200404</enddate><creator>Zinn, Michael</creator><creator>Roth, Bernard</creator><creator>Khatib, Oussama</creator><creator>Salisbury, J. Kenneth</creator><general>SAGE Publications</general><general>SAGE PUBLICATIONS, INC</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>F28</scope></search><sort><creationdate>200404</creationdate><title>A New Actuation Approach for Human Friendly Robot Design</title><author>Zinn, Michael ; Roth, Bernard ; Khatib, Oussama ; Salisbury, J. Kenneth</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c434t-b2b4b5504283cb3d40f22629362f23724881b377403ffbb5ad3d6e0d41bfbee83</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2004</creationdate><topic>Artificial intelligence</topic><topic>Design engineering</topic><topic>Robots</topic><topic>Safety</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Zinn, Michael</creatorcontrib><creatorcontrib>Roth, Bernard</creatorcontrib><creatorcontrib>Khatib, Oussama</creatorcontrib><creatorcontrib>Salisbury, J. Kenneth</creatorcontrib><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics &amp; Communications Abstracts</collection><collection>Mechanical &amp; Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts – Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>ANTE: Abstracts in New Technology &amp; Engineering</collection><jtitle>The International journal of robotics research</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Zinn, Michael</au><au>Roth, Bernard</au><au>Khatib, Oussama</au><au>Salisbury, J. Kenneth</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>A New Actuation Approach for Human Friendly Robot Design</atitle><jtitle>The International journal of robotics research</jtitle><date>2004-04</date><risdate>2004</risdate><volume>23</volume><issue>4-5</issue><spage>379</spage><epage>398</epage><pages>379-398</pages><issn>0278-3649</issn><eissn>1741-3176</eissn><coden>IJRREL</coden><abstract>In recent years, many successful robotic manipulator designs have been introduced. However, there remains the challenge of designing a manipulator that possesses the inherent safety characteristics necessary for human-centered robotics. In this paper, we present a new actuation approach that has the requisite characteristics for inherent safety while maintaining the performance expected of modern designs. By drastically reducing the effective impedance of the manipulator while maintaining high-frequency torque capability, we show that the competing design requirements of performance and safety can be successfully integrated into a single manipulation system.</abstract><cop>London</cop><pub>SAGE Publications</pub><doi>10.1177/0278364904042193</doi><tpages>20</tpages></addata></record>
fulltext fulltext
identifier ISSN: 0278-3649
ispartof The International journal of robotics research, 2004-04, Vol.23 (4-5), p.379-398
issn 0278-3649
1741-3176
language eng
recordid cdi_proquest_miscellaneous_28298468
source SAGE
subjects Artificial intelligence
Design engineering
Robots
Safety
title A New Actuation Approach for Human Friendly Robot Design
url http://sfxeu10.hosted.exlibrisgroup.com/loughborough?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-02T18%3A31%3A34IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_cross&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=A%20New%20Actuation%20Approach%20for%20Human%20Friendly%20Robot%20Design&rft.jtitle=The%20International%20journal%20of%20robotics%20research&rft.au=Zinn,%20Michael&rft.date=2004-04&rft.volume=23&rft.issue=4-5&rft.spage=379&rft.epage=398&rft.pages=379-398&rft.issn=0278-3649&rft.eissn=1741-3176&rft.coden=IJRREL&rft_id=info:doi/10.1177/0278364904042193&rft_dat=%3Cproquest_cross%3E28298468%3C/proquest_cross%3E%3Cgrp_id%3Ecdi_FETCH-LOGICAL-c434t-b2b4b5504283cb3d40f22629362f23724881b377403ffbb5ad3d6e0d41bfbee83%3C/grp_id%3E%3Coa%3E%3C/oa%3E%3Curl%3E%3C/url%3E&rft_id=info:oai/&rft_pqid=229995027&rft_id=info:pmid/&rft_sage_id=10.1177_0278364904042193&rfr_iscdi=true