The DOI matches its Crossref record; 10 of the 10 references it cites were found in a registry or an index.
A New Actuation Approach for Human Friendly Robot Design
Abstract
In recent years, many successful robotic manipulator designs have been introduced. However, there remains the challenge of designing a manipulator that possesses the inherent safety characteristics necessary for human-centered robotics. In this paper, we present a new actuation approach that has the requisite characteristics for inherent safety while maintaining the performance expected of modern designs. By drastically reducing the effective impedance of the manipulator while maintaining high-frequency torque capability, we show that the competing design requirements of performance and safety can be successfully integrated into a single manipulation system.
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Citations
Cites
Khatib, O. (1987) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1987.1087068 · Cited by 2,940
Self-citationPratt, G. A., & Williamson, M. M. (2002) · Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots · doi:10.1109/iros.1995.525827 · Cited by 2,206
Inertial Properties in Robotic Manipulation: An Object-Level Framework
Khatib, O. (1995) · The International Journal of Robotics Research · doi:10.1177/027836499501400103 · Cited by 542
Self-citationA comparative analysis of actuator technologies for robotics
Hollerbach, J. M., Hunter, I. W., & Ballantyne, J. (1992) · Cited by 330
On a new generation of torque controlled light-weight robots
Hirzinger, G., Albu-Schaffer, A., Hahnle, M., Schaefer, I., & Sporer, N. (2002) · Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164) · doi:10.1109/robot.2001.933136 · Cited by 305
DLR's torque-controlled light weight robot III-are we reaching the technological limits now?
Hirzinger, G., Sporer, N., Albu-Schaffer, A., Hahnle, M., Krenn, R., Pascucci, A., & Schedl, M. (2003) · Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) · doi:10.1109/robot.2002.1014788 · Cited by 285
Design and analysis of series elasticity in closed-loop actuator force control
Robinson, D. W. (2000) · DSpace@MIT (Massachusetts Institute of Technology) · Cited by 265
A new actuation approach for human friendly robot design
Zinn, M., Khatib, O., & Roth, B. (2004) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2004.1307159 · Cited by 153
Self-citationCompliant design for intrinsic safety: general issues and preliminary design
Bicchi, A., Rizzini, S. L., & Tonietti, G. (2002) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2001.976345 · Cited by 116
Parallel-Coupled Micro-Macro Actuators
Morrell, J. B., & Salisbury, J. K. (1998) · The International Journal of Robotics Research · doi:10.1177/027836499801700707 · Cited by 74
Self-citation
Cited by
Working Together: A Review on Safe Human-Robot Collaboration in Industrial Environments
Robla-Gomez, S., Becerra, V. M., Llata, J. R., Gonzalez-Sarabia, E., Torre-Ferrero, C., & Perez-Oria, J. (2017) · IEEE Access · doi:10.1109/access.2017.2773127 · Cited by 589
Requirements for Safe Robots: Measurements, Analysis and New Insights
Haddadin, S., Albu-Schäffer, A., & Hirzinger, G. (2009) · The International Journal of Robotics Research · doi:10.1177/0278364909343970 · Cited by 444
Veneman, J. F., Ekkelenkamp, R., Kruidhof, R., van der Helm, F. C. T., & van der Kooij, H. (2006) · The International Journal of Robotics Research · doi:10.1177/0278364906063829 · Cited by 428
Human – robot interaction review and challenges on task planning and programming
Tsarouchi, P., Makris, S., & Chryssolouris, G. (2016) · International Journal of Computer Integrated Manufacturing · doi:10.1080/0951192x.2015.1130251 · Cited by 376
NEUROExos: a powered elbow exoskeleton for physical rehabilitation
Vitiello, N., Lenzi, T., Roccella, S., De Rossi, S. M. M., Cattin, E., Giovacchini, F., Vecchi, F., & Carrozza, M. C. (2013) · IEEE Transactions on Robotics · doi:10.1109/tro.2012.2211492 · Cited by 272
Metadata
- Authors
- Zinn, M., Roth, B., Khatib, O., & Salisbury, J. K.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 2004-04
- Volume
- 23
- Issue
- 4-5
- Pages
- 379-398
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2131063775
- Cited by
- 441
- References
- 10
- FWCI
- 42.11
- Type
- journal article
- Language
- en
- Open access
- closed
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- Zinn, M., Roth, B., Khatib, O., & Salisbury, J. K. (2004). A New Actuation Approach for Human Friendly Robot Design. The International Journal of Robotics Research. https://doi.org/10.1177/0278364904042193
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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