Abstract
The physical compliance of interaction is an important requirement for safe and efficient collaboration between robots and humans, and the realization of human–robot compliance requires robot joints with variable stiffness similar to those of human joints. In this study, based on the tissue structure and driving principle of the human arm muscle ligament, a robot joint with variable stiffness is designed, consisting of an elastic belt and serial elastic actuator in parallel. The variable stiffness of the joint is realized by adjusting the tension length of the elastic belt. Surface electromyography (sEMG) signals of the human arm are used as the characterization quantity of joint stiffness to establish the pseudo-stiffness model of the elbow joint. The stiffness of the robot joints is adjusted in real-time to match the human arm stiffness based on the changes in sEMG signals of the human arm during operation. Real-time compliant interaction of human–robot collaboration is realized based on an end stiffness matching strategy. Additionally, to verify the effectiveness of the human joint stiffness matching-based compliance control strategy, a human–robot cooperative lifting experiment was designed. The bionic variable stiffness joint shows good stiffness adjustment, and the human–robot joint stiffness matching strategy based on human sEMG signals can improve the effectiveness and comfort of human–robot collaboration.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
