Soumen Sen

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— This paper presents design and performance of a novel joint based actuator for a robot run by Variable Stiffness Actuation, meant for systems physically interacting with humans. This new actuator prototype (VSA-II) is developed as an improvement over our previously developed one reported in [9], where an optimal mechanical-control co-design principle(More)
P hysical human–robot interaction (pHRI) represents one of the most motivating, challenging , and ambitious research topics in robotics. Many of the future and emerging applications of robotics, be they in service [14], assistance and care [23], rehabilitation [34], or in more traditional working contexts [34], will indeed require robots to work in close(More)
— In this paper we introduce an analysis of dependability of an elementary yet critical component of robotic systems designed to operate in environments shared with humans, i.e. the joint-level actuation system. We consider robot joints that implement the Variable Impedance Actuation (VIA) paradigm. The VIA has been demonstrated to be an effective mean to(More)
In this paper, we present an algorithm for hidden surface removal for a class of poly-hedral surfaces which have a property that they can be ordered relatively quickly. For example, our results apply directly to terrain maps. A distinguishing feature of our algorithm is that its running time is sensitive to the actual size of the visible image, rather than(More)
The paper presents an application of Interval method to solve the inverse kinematics of a serially connected redundant manipulator, aiming its use in design optimization of manipulators. The article attempts to solve inverse kinematics, when the lengths of the links of the manipulator are not precisely known. The sources of uncertainties include(More)
Traditionally underwater vehicles use thrusters as propulsion devices and achieve high speed. These thrusters come with their own limitations such as turbulence, cavitations etc. resulting into low efficiency and noise; the vehicles severely suffer from lack of efficiency in low speed operations. Maneuverability of vehicles using thrusters or jet propulsion(More)
— Nonlinear elasticity of transmission is indispensable in any passively variable stiffness mechanism. However, it remains obscure how to decide a desired nonlinear force-displacement function. On the other hand biological muscular actions are associated with stiffness/impedance variation in a wide range as demanded by everyday tasks. This paper addresses(More)
—New generation robots, meant for physical human robot interactions, are no longer rigid; it has become soft in terms of introduction of considerable flexibility at the actuated joints, flexibility of the links and in terms of compliant coverings. Safety requirement becomes primary in situations where physical interactions occur, calling for compliance; but(More)