1. Lab Presentation 12/10/2010

2. Safer Human Robot Interaction through Compliance in Design Compliance via pneumatic actuators – Inertia reduction – Inertia decoupling Compliance via soft covering – Peak force reduction – Capacitative sensing skin Research Goal – Investigate these effects on impact forces ->injury

4. Robot arm Target

5. System Equations of Motion VariableDefinition k int Interface stiffness kmkm Muscle stiffness f(pressure) kpkp Controller stiffness Ɵ1Ɵ1 Arm angle Ɵ2Ɵ2 Head mass angle L2L2 Pendulum length M head Target mass L link Length of arm link M arm Arm mass

7. Effect of Stiffness Source Stiffness sourceLow FreqMedium FreqHigh Freq Motor PAMS Springs (expected) 6 Hz30 Hz Test Conclusions Mini does not increase peak forces significantly while vastly improving performance Pressure has little effect on peak forces

8. Limitations Fragile One of kind Limited travel Limited end tip velocity (0.5 m/s)

10. Goals Does joint stiffness effect collision? Can skin sensor pick detect collision?

11. Distal link Torque spring JR3 sensor Piece of tape

12. Cushion layer shield Sensor strip

14. Preliminary Results 2 m/s, k = 27.793 N mm/deg2 m/s, k = 0.395 N mm/deg

15. JR3 Data 2 m/s, k = 27.793 N mm/deg2 m/s, k = 0.395 N mm/deg

16. To do: Find optimal frequency division – Noise vs response Improve experimental setup – Ensure configuration – Stiffen target – Find optimal skin thickness