4 research outputs found
The design and control of an actively restrained passive mechatronic system for safety-critical applications
Development of manipulators that interact closely with humans has been a focus of research in
fields such as robot-assisted surgery and haptic interfaces for many years. Recent introduction
of powered surgical-assistant devices into the operating theatre has meant that robot
manipulators have been required to interact with both patients and surgeons. Most of these
manipulators are modified industrial robots. However, the use of high-powered mechanisms in
the operating theatre could compromise safety of the patient, surgeon, and operating room staff.
As a solution to the safety problem, the use of actively restrained passive arms has been
proposed. Clutches or brakes at each joint are used to restrict the motion of the end-effector to
restrain it to a pre-defined region or path. However, these devices have only had limited success
in following pre-defined paths under human guidance.
In this research, three major limitations of existing passive devices actively restrained are
addressed. [Continues.