01811nas a2200217   4500008004100000245007700041210006900118260003300187300001400220490000700234520109300241653004401334653001301378100001701391700001501408700001101423700001601434700001501450700001901465856010901484       2006                        eng d00aOptimization and Fail-Safety Analysis of Antagonistic Actuation for pHRI0 aOptimization and FailSafety Analysis of Antagonistic Actuation f  bSpringer Berlin / Heidelberg  a109 - 1180 v223 a<p>In this paper we consider some questions in the design of actuators for physical Human-Robot Interaction (pHRI) under strict safety requirements in all circumstances, including unexpected impacts and HW/SW failures. We present the design and optimization of agonistic-antagonistic actuation systems realizing the concept of variable impedance actuation (VIA). With respect to previous results in the literature, in this paper we consider a realistic physical model of antagonistic systems, and include the analysis of the effects of cross-coupling between actuators. We show that antagonistic systems compare well with other possible approaches in terms of the achievable performance while guaranteeing limited risks of impacts. Antagonistic actuation systems however are more complex in both hardware and software than other schemes. Issues are therefore raised, as to fault tolerance and fail safety of different actuation schemes. In this paper, we analyze these issues and show that the antagonistic implementation of the VIA concept fares very well under these regards also.</p>
10aPhysical Human-Robot Interaction (pHRI)10aRobotics1 aBoccadamo, G1 aSchiavi, R1 aSen, S1 aTonietti, G1 aBicchi, A.1 aChristensen, H  uhttp://95.110.227.16/publications/optimization-and-fail-safety-analysis-antagonistic-actuation-phri.html