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A Switchable Stiffness Hydrostatic Actuation System for Safe Physical Human-robot Interactions
S. Park(박성빈),J. Kim(김정) Korean Society for Precision Engineering 2021 한국정밀공학회 학술발표대회 논문집 Vol.2021 No.11월
Human-friendly manipulators must ensure safety and performance to successfully extend the application domains for robotics from industrial domains to our everyday lives. Hydrostatic transmission has shown promising results for ensuring safety and performance by enabling the manipulator to achieve low inertia, high stiffness, and high transparency. However, it could not provide inherent safety during human-robot collaboration due to incompressibility. Thus, it would be advantageous to introduce series compliance on the hydrostatic transmission for adjusting stiffness depending on the situation. Here, we developed a safe hydrostatic actuation system with the switchable stiffness mechanism implemented with an air spring and solenoid valve. Air spring is serially connected to hydraulic lines for achieving compliance. Its modes (i.e., Stiff and Compliant Modes) can be switched by modulating water flow via the solenoid valve. Rolling diaphragms provide leak-free operation and low seal friction. We experimentally validated that the stiff mode is 9.63 times stiffer than the compliant mode at 100 kPa, and the compliant mode could mitigate the impact force to the level that a tangerine would not be crushed. Since the stiffness switching time is within 12 ms, the proposed mechanism is rapid enough for feedback applications with vision or tactile sensors.