A Limb Compliant Sensing Strategy for Robot Collision Reaction
- 30 October 2015
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE/ASME Transactions on Mechatronics
- Vol. 21 (2), 674-682
- https://doi.org/10.1109/tmech.2015.2496553
Abstract
This paper introduces a compliant limb sensor (CLS) concept for collision detection during 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 small number of required sensors. The proposed sensor is prototyped for the planar case using LED/light-to-voltage (LTV) sensors for shell pose measurement and foam as 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 can 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 new method of 3-D human-computer interaction due to the ability to modify the compliance and operating range of the CLS.Keywords
Funding Information
- Natural Sciences and Engineering Council Canada
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