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Keywords: physical human–robot interaction
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Journal Articles

Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities

Julien M. Audet, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011011.
Paper No: JMR-20-1533
DOI: https://doi.org/10.1115/1.4051132
Published Online: July 21, 2021
... validations of both systems are presented to demonstrate the intuitive and responsive behavior of the manipulators during physical human–robot interactions. Email: julien-mathieu.audet.1@ulaval.ca Email: gosselin@gmc.ulaval.ca Contributed by the Mechanisms and Robotics Committee of ASME...
View Article titled, Intuitive <span class="search-highlight">Physical</span> <span class="search-highlight">Human</span>–<span class="search-highlight">Robot</span> <span class="search-highlight">Interaction</span> Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities
Click here to open pdf in another window PDF for Intuitive <span class="search-highlight">Physical</span> <span class="search-highlight">Human</span>–<span class="search-highlight">Robot</span> <span class="search-highlight">Interaction</span> Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities
Topics: Calibration, Equilibrium (Physics), Gravity (Force), Human-robot interaction, Manipulators, Redundancy (Engineering), Redundant manipulators, Robots, Engineering prototypes, Actuators
Journal Articles

Statically Balancing a Reconfigurable Mechanism by Using One Passive Energy Element Only: A Case Study

Chin-Hsing Kuo, Vu Linh Nguyen, Daniel Robertson, Lin-Tien Chou, Just L. Herder
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 040906.
Paper No: JMR-20-1621
DOI: https://doi.org/10.1115/1.4050682
Published Online: April 19, 2021
... in the J ournal of M echanisms and R obotics . 14 12 2020 19 03 2021 24 03 2021 19 04 2021 reconfigurable mechanism static balancing gravity compensation physical human–robot interaction mechanism design mechanism synthesis parallel platforms Reconfigurable...
View Article titled, Statically Balancing a Reconfigurable Mechanism by Using One Passive Energy Element Only: A Case Study
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Topics: Design, Springs
Journal Articles

Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy

Julien M. Audet, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2021, 13(1): 014503.
Paper No: JMR-20-1117
DOI: https://doi.org/10.1115/1.4048258
Published Online: October 22, 2020
...Julien M. Audet; Clément Gosselin This paper extends the concept of underactuated redundancy for physical human–robot interaction (pHRI) in a context of industrial assembly by introducing a novel 1-dof gravity balanced rotational manipulator. The proposed architecture consists of a rotational...
View Article titled, Rotational Low-Impedance <span class="search-highlight">Physical</span> <span class="search-highlight">Human</span>–<span class="search-highlight">Robot</span> <span class="search-highlight">Interaction</span> Using Underactuated Redundancy
Click here to open pdf in another window PDF for Rotational Low-Impedance <span class="search-highlight">Physical</span> <span class="search-highlight">Human</span>–<span class="search-highlight">Robot</span> <span class="search-highlight">Interaction</span> Using Underactuated Redundancy
Topics: Actuators, Architecture, Equilibrium (Physics), Gravity (Force), Human-robot interaction, Manipulators, Redundancy (Engineering), Robots, Manufacturing, Springs
Journal Articles

Toward Tradeoff Between Impact Force Reduction and Maximum Safe Speed: Dynamic Parameter Optimization of Variable Stiffness Robots

Siyang Song, Yu She, Junmin Wang, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2020, 12(5): 054503.
Paper No: JMR-19-1499
DOI: https://doi.org/10.1115/1.4046839
Published Online: May 11, 2020
...Siyang Song; Yu She; Junmin Wang; Hai-Jun Su Variable stiffness robots may provide an effective way of trading-off between safety and speed during physical human–robot interaction. In such a compromise, the impact force reduction capability and maximum safe speed are two key performance measures...
View Article titled, Toward Tradeoff Between Impact Force Reduction and Maximum Safe Speed: Dynamic Parameter Optimization of Variable Stiffness Robots
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Topics: Design, Optimization, Robots, Stiffness
Journal Articles

Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks

Sambad Regmi, Yun Seong Song
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041002.
Paper No: JMR-19-1380
DOI: https://doi.org/10.1115/1.4045688
Published Online: March 6, 2020
... interactive tasks with a human. Email: srn3p@mst.edu Email: songyun@mst.edu Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 30 08 2019 25 11 2019 25 11 2019 12 12 2019 physical human...
View Article titled, Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks
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Topics: Design, Design methodology, Kinematics, Manipulators, Motors, Robotics, Robots, Dynamics (Mechanics), End effectors, Damping
Journal Articles

Gravity Compensation Design of Planar Articulated Robotic Arms Using the Gear-Spring Modules

Vu Linh Nguyen, Chyi-Yeu Lin, Chin-Hsing Kuo
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031014.
Paper No: JMR-19-1279
DOI: https://doi.org/10.1115/1.4045650
Published Online: February 6, 2020
... Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 20 06 2019 26 11 2019 26 11 2019 09 12 2019 gravity compensation static balancing physical human–robot interaction robot design mechanism design...
View Article titled, Gravity Compensation Design of Planar Articulated Robotic Arms Using the Gear-Spring Modules
Click here to open pdf in another window PDF for Gravity Compensation Design of Planar Articulated Robotic Arms Using the Gear-Spring Modules
Topics: Design, Gears, Gravity (Force), Robots, Springs, Stiffness, Engines, Motors, Torque
Journal Articles

Quantitative Modeling and Analysis of Reliance in Physical Human–Machine Coordination

Yiwei Wang, Glenn J. Lematta, Chi-Ping Hsiung, Kyleigh A. Rahm, Erin K. Chiou, Wenlong Zhang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 060901.
Paper No: JMR-19-1090
DOI: https://doi.org/10.1115/1.4044545
Published Online: September 10, 2019
... . 10.1109/TOH.2018.2804911 [6] Granados , D. F. P. , Yamamoto , B. A. , Kamide , H. , Kinugawa , J. , and Kosuge , K. , 2017 , “ Dance Teaching by a Robot: Combining Cognitive and Physical Human–Robot Interaction for Supporting the Skill Learning Process ,” IEEE Robot. Autom...
View Article titled, Quantitative Modeling and Analysis of Reliance in Physical Human–Machine Coordination
Click here to open pdf in another window PDF for Quantitative Modeling and Analysis of Reliance in Physical Human–Machine Coordination
Topics: Machinery, Optimization, Robots, Modeling