Series Clutch Actuators for safe physical human-robot interaction

Abstract

This paper presents the design, implementation and control of a device intented to mechanically improve the safety of serial robots interacting with humans. The device consists of an electronically adjustable torque limiter placed in series with each actuator, referred to as a Series Clutch Actuator (SCA). By appropriately adjusting the limit torques… (More)
DOI: 10.1109/ICRA.2011.5979601

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