Physical Human-Robot Interaction Using HandsOn-SEA: An Educational Robotic Platform With Series Elastic Actuation | IEEE Journals & Magazine | IEEE Xplore

Physical Human-Robot Interaction Using HandsOn-SEA: An Educational Robotic Platform With Series Elastic Actuation


Abstract:

For gaining proficiency in physical human-robot interactions, it is crucial for engineering students to be provided with the opportunity to gain hands-on experience with ...Show More

Abstract:

For gaining proficiency in physical human-robot interactions, it is crucial for engineering students to be provided with the opportunity to gain hands-on experience with robotic devices that feature kinesthetic feedback. In this article, we propose HandsOn-SEA, a low-cost, single degree-of-freedom, force-controlled educational robot with series elastic actuation and introduce educational modules for the use of the device to allow students to experience the fundamental performance trade-offs inherent in robotic systems. The novelty of the proposed robot is due to the deliberate introduction of a compliant element between the actuator and the handle, whose deflections are measured to perform closed-loop force control. As an admittance-type robot, HandsOn-SEA relies on force feedback to achieve the desired level of safety and transparency and complements the existing impedance-type educational robots. We present the integration of HandsOn-SEA into the robotics curriculum, by providing guidelines for its use in a senior level robotics course, to help students experience the challenges involved in the synergistic design and control of robotic devices. We systematically evaluate the efficacy of the device in a robotics course delivered for five semesters and provide evidence that HandsOn-SEA is effective in instilling fundamental concepts and trade-offs in the design and control of robotic devices.
Published in: IEEE Transactions on Haptics ( Volume: 14, Issue: 4, 01 Oct.-Dec. 2021)
Page(s): 922 - 929
Date of Publication: 19 May 2021

ISSN Information:

PubMed ID: 34010136

References

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