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

    Source: Journal of Mechanisms and Robotics:;2020:;volume( 013 ):;issue: 001::page 014503-1
    Author:
    Audet, Julien M.
    ,
    Gosselin, Clément
    DOI: 10.1115/1.4048258
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: 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 active counterweight with a passive joint equipped with an encoder. The proposed architecture is first described, and the static equilibrium conditions are used to describe the operation of the mechanism. Then, alternative architectures are briefly introduced. Finally, an experimental validation is provided to demonstrate the viability of the concept for rotational low impedance pHRI.
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      Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4277994
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    contributor authorAudet, Julien M.
    contributor authorGosselin, Clément
    date accessioned2022-02-05T22:41:54Z
    date available2022-02-05T22:41:54Z
    date copyright10/22/2020 12:00:00 AM
    date issued2020
    identifier issn1942-4302
    identifier otherjmr_13_1_014503.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4277994
    description abstractThis 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 active counterweight with a passive joint equipped with an encoder. The proposed architecture is first described, and the static equilibrium conditions are used to describe the operation of the mechanism. Then, alternative architectures are briefly introduced. Finally, an experimental validation is provided to demonstrate the viability of the concept for rotational low impedance pHRI.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleRotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy
    typeJournal Paper
    journal volume13
    journal issue1
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4048258
    journal fristpage014503-1
    journal lastpage014503-6
    page6
    treeJournal of Mechanisms and Robotics:;2020:;volume( 013 ):;issue: 001
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian