Safe and effective physical human-robot interaction: Approaches to variable compliance via soft joints and soft grippers

The work described in this thesis focusses on designing and building two novel physical devices in a robotic arm structure. The arm is intended for human-robot interaction in the domestic assistive robotics area. The first device aims at helping to ensure the safety of the human user. It acts as a mechanical fuse and disconnects the robotic arm link from its motor in case of collision. The device behaves in a rigid manner in normal operational times and in a compliant manner in case of potentially harmful collisions: it relies on a variable compliance. The second device is the end-effector of the robotic arm. It is a novel grasping device that aims at accommodating varying object shapes. This is achieved by the structure of the grasping device that is a soft structure with a compliant and a rigid phase. Its completely soft structure is able to mould to the object's shape in the compliant phase, while the rigid phase allows holding the object in a stable way.In this study, variable compliance is defined as a physical structure's change from a compliant to a rigid behaviour and vice versa. Due to its versatility and effectiveness, variable compliance has become the founding block of the design of the two devices in the robot arm physical structure. The novelty of the employment of variable compliance in this thesis resides in its use in both rigid and soft devices in order to help ensure both safety and adaptable grasping in one integrated physical structure, the robot arm.The safety device has been designed, modelled, produced, tested and physically embedded in the robot arm system. Compared to previous work in this field, the feature described in this thesis' work has a major advantage: its torque threshold can be actively regulated depending on the operational situation. The threshold torque is best described by an exponential curve in the mathematical model while it is best fit by a second order equation in the experimental data. The mismatch is more considerable for high values of threshold torque. However, both curves reflect that threshold torque magnitude increases by increasing the setting of the device. Testing of both the passive decoupling and active threshold torque regulation show that both are successfully obtained. The second novel feature of the robot arm is the soft grasping device inspired by hydrostatic skeletons. Its ability to passively adapts to complex shapes objects, reduces the complexity of the grasping action control. This gripper is low-cost, soft, cable-driven and it features no stiff sections. Its versatility, variable compliance and stable grasp are shown in several experiments. A model of the forward kinematics of the system is derived from observation of its bending behaviour.Variable compliance has shown to be a very relevant principle for the design and implementation of a robotic arm aimed at safely interacting with human users and that can reduce grasp control complexity by passively adapting to the object's shape

Towards a Variable Compliance Hydrostatic Skeleton Inspired Gripper

Abstract-Variable compliance is a subject of great interest in the robotics community, particularly in the area of HumanRobot interaction. In this work, variable compliance is achieved in a novel grasping device inspired by the hydrostatic skeletons of invertebrates. This is accomplished passively, relying on material properties and innovative prototype design. The design will be described and its behavior evaluated through a series of experiments. It will also be shown that a prototype with a very simple design is able to grasp the object with little active control

Salivary psoriasin (S100A7) correlates with diffusion capacity of carbon monoxide in a large cohort of systemic sclerosis patients

Background: Systemic sclerosis (SSc) is an autoimmune disease characterized by progressive fibrosis of the skin and the internal organs. In a previous work we suggested a correlation between levels of salivary psoriasin (S100A7) and pulmonary involvement in SSc patients. The goals of this study are to determine the distribution characteristics of psoriasin in whole saliva (WS) of SSc and healthy donor populations and define its predictive value on diffusion capacity of carbon monoxide (DLCO), along with others clinical parameters. Methods: Salivary level of psoriasin was determined by ELISA kit in 134 SSc patients, 63 Raynaud syndrome patients, 40 patients affected by other connective diseases (non-case) and 74 healthy control subjects. Results: A significant increase of salivary psoriasin was observed in SSc patients when compared with other healthy and pathological controls. Moreover, we confirmed the efficacy of salivary psoriasin to correlate with DLCO in a large cohort of SSc patients. Conclusions: Overall our results suggest a rapid, non invasive and low costing method which can help clinicians in the evaluation of SSc pulmonary involvement

The TacTip Family : Soft Optical Tactile Sensors with 3D-Printed Biomimetic Morphologies

The authors thank Sam Coupland, Gareth Griffiths, and Samuel Forbes for their help with 3D printing and Jason Welsby for his assistance with electronics. N.L. was supported, in part, by a Leverhulme Trust Research Leadership Award on “A biomimetic forebrain for robot touch” (RL-2016-039), and N.L. and M.E.G. were supported, in part, by an EPSRC grant on Tactile Super-resolution Sensing (EP/M02993X/1). L.C. was supported by the EPSRC Centre for Doctoral Training in Future Autonomous and Robotic Systems (FARSCOPE).Peer reviewedPublisher PD

Variable stiffness McKibben muscles with hydraulic and pneumatic operating modes

McKibben muscles have been shown to have improved stiffness characteristics when operating hydraulically. However, when operating pneumatically they are compliant and so have potential for safer physical Human Robot Interaction (pHRI). This paper presents a method for rapidly switching between pneumatic and hydraulic modes of operation without the need to remove all hydraulic fluid from the actuator. A compliant and potentially safe pneumatic mode is demonstrated and compared with a much stiffer hydraulic mode. The paper also explores a combined pneumatic/hydraulic mode of operation which allows both the position of the joint and the speed at which it reacts to a disturbance force to be controlled

Environmental Hazard Analysis - a Variant of Preliminary Hazard Analysis for Autonomous Mobile Robots

© 2014, Springer Science+Business Media Dordrecht. Robot manufacturers will be required to demonstrate objectively that all reasonably foreseeable hazards have been identified in any robotic product design that is to be marketed commercially. This is problematic for autonomous mobile robots because conventional methods, which have been developed for automatic systems do not assist safety analysts in identifying non-mission interactions with environmental features that are not directly associated with the robot’s design mission, and which may comprise the majority of the required tasks of autonomous robots. In this paper we develop a new variant of preliminary hazard analysis that is explicitly aimed at identifying non-mission interactions by means of new sets of guidewords not normally found in existing variants. We develop the required features of the method and describe its application to several small trials conducted at Bristol Robotics Laboratory in the 2011–2012 period

"Implementazione di tecniche di controllo bioispirate per la realizzazione di pattern di movimento tipici del polpo (Octopus vulgaris) su una piattaforma robotica"

Lo scopo della tesi sperimentale è quello di riprodurre il movimento di reaching, tipico dell’Octopus vulgaris, imitandone il pattern di attivazione muscolare precedentemente caratterizzato da studi neurofisiologici. Il lavoro è realizzato su una piattaforma robotica composta da servo motori, una scheda di controllo, un software dedicato, un acquario ed un mock-up in silicone del braccio del polpo realizzato specificatamente per riprodurre tale movimento. In particolare, il mock-up permette di implementare i pattern di attivazione muscolare osservati nel modello animale perché riproduce la sua struttura muscolare. Attraverso l’ottimizzazione di larghezza e tempistiche degli impulsi dei servomotori è stata riprodotta la tipica onda sequenziale di co-contrazione dei muscoli trasversali e longitudinali dell’animale con la contrazione dei cavi del mock-up. I diversi esperimenti realizzati sono stati filmati e sottoposti a tracking per individuare alcune caratteristiche salienti del movimento. Tali dati sono stati poi elaborati in modo da poter eseguire un confronto diretto con gli stessi parametri raccolti in studi sul movimento di reaching dell’Octopus vulgaris presenti in letteratura