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A Low-Cost Experimental Device for Compliant Physical Human-Robot Interaction

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Advances in Service and Industrial Robotics (RAAD 2017)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 49))

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Abstract

Cobotix is one of the latest paradigm changes emerged in the era of modern industrial robotics at the focal point of the so-called Industry 4.0 concept. Safe physical human-robot contact is the core enabling technology and therefore, it has special importance in research and also in education of robotics engineers. This paper introduces a low-cost, yet complete experimental and educational purpose compliant robot that allows for studying the main principles of physical human-robot interaction. The setup consists of a NOVINT Falcon 3-axis haptic device with parallel mechanism and a 3-axis force sensor, which allows for sensing the interaction forces between the robot and the environment. The controller is implemented on a Real-time Linux platform. The resulted software is open source and shared with the robotics community.

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Acknowledgment

We acknowledge the financial support of this work by the Hungarian State and the European Union under the EFOP-3.6.1-16-2016-00010 project. Authors are thankful to the OptoForce Ltd. for providing force sensors to the research project.

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Authors and Affiliations

  1. Antal Bejczy Center for Intelligent Robotics, Óbuda University, Kiscelli u. 82, Budapest, 1032, Hungary

    Daniel Rácz, Mátyás Takács, Péter Galambos & János Somló

Authors
  1. Daniel Rácz
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  2. Mátyás Takács
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  3. Péter Galambos
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  4. János Somló
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Corresponding author

Correspondence to Péter Galambos .

Editor information

Editors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, Italy

    Carlo Ferraresi

  2. Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, Italy

    Giuseppe Quaglia

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Rácz, D., Takács, M., Galambos, P., Somló, J. (2018). A Low-Cost Experimental Device for Compliant Physical Human-Robot Interaction. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_25

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  • DOI: https://doi.org/10.1007/978-3-319-61276-8_25

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-61275-1

  • Online ISBN: 978-3-319-61276-8

  • eBook Packages: EngineeringEngineering (R0)

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