Improving the safety of human-robot cooperation with control of joint stiffness

Abstract

This article describes the design of increase of the safety of human-robot cooperation. In this variant is besides maintaining the minimum weight of the moving parts used the flexible joint, which rigidity is adjustable. The article presents a new method in which is the mechanical spring replaced by electro-dynamic coupling. This way of dealing increases the speed of the regulation and expands the possibilities of regulation and future use.