Continuum Robots: An Approach to Safer Robots
نویسندگان
چکیده
There is a growing need for robots that can not only function in close proximity to human beings but also physically interact with them safely. This calls for a paradigm shift in the way robots are designed. Towards this end, we propose the use of continuum robots to improve safety in physical human robot interaction (pHRI). Continuum robots have been looked at in the past for applications which involve access to convoluted spaces, such as in non-invasive surgery, but not in the context of safe pHRI. We study the key issue of compliance distribution in soft systems and its effect on safety and performance of a manipulator. We also study the analytical and experimental kinematics of a prototype manipulator with distributed compliance: a 2 DoF continuum type arm, the Tubot.
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