Publication
Towards safety in physically assistive robots: eating assistance
Conference Article
Conference
IROS Workshop on Robots for Assisted Living (IROS WS RobForAL)
Edition
2018
Pages
1-4
Doc link
https://www.idiap.ch/workshop/iros2018/files/05f-mvila_iros_ws2018_final.pdf
File
Abstract
Safety is one of the base elements to build trust in robots. This paper studies remedies to unavoidable collisions using robotics assistive feeding as an example task. Firstly, we propose an attention mechanism so the user can control the robot using gestures and thus prevent collisions. Secondly, when unwanted contacts are unavoidable we compare two safety strategies: active safety, using a force sensor to monitor maximum allowed forces; and passive safety using compliant controllers. Experimental evaluation shows that the gesture mechanism is effective to control the robot. Also, the impact forces obtained with both methods are similar and thus can be used independently. Additionally, users experimenting on purpose impacts declared that the impact was not harmful.
Categories
humanoid robots, service robots.
Author keywords
assisted living, feeding, safety
Scientific reference
M. Vila, G. Canal and G. Alenyà. Towards safety in physically assistive robots: eating assistance, 2018 IROS Workshop on Robots for Assisted Living, 2018, Madrid, pp. 1-4.
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