A tactile reflex arc for physical human–robot interaction

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2025-02-28 DOI:10.1016/j.mechatronics.2025.103307

Lac Van Duong

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引用次数: 0

Abstract

Conventional industrial robots lack the ability to work safely alongside humans due to their rigid components and absence of tactile sensation. To enhance the interaction capabilities of robots, this paper proposes a reflex arc that incorporates artificial robot skin. The proposed control strategy allows the robot to perform tasks while automatically and safely reacting to its environment, ensuring both safe and efficient operation. By utilizing tactile sensor skins, the external forces applied to the robot’s kinematic structure are estimated. Based on the robot’s kinematics, interaction joint torques are calculated using tactile force feedback, which generates reflex actions. These behaviors are modeled through a virtual mass–spring–damper (MSD) system applied to the robot’s joints. The proposed control strategy can be applied to any skin technology that provides a spatial distribution of force over the robot’s surface. Validation was conducted using a three-degree-of-freedom robot arm, demonstrating the method’s applicability to robot manipulators. A supplementary video demonstrating the proposed control strategy can be viewed at https://bit.ly/TactileReflex.

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.