Minimal force jump within human and assistive robot cooperation Abdi, Hamid, Nahavandi, Saeid and Masouleh, Mehdi Tale 2010, Minimal force jump within human and assistive robot cooperation, in 2010 IEEE/RSJ : Conference DVD proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Piscataway, N. J., pp. 2651-2656. Attached Files Name Description MIMEType Size Downloads abdi-minimumreconfiguration-2010.pdf Published version application/pdf 419.96KB 269 Title Minimal force jump within human and assistive robot cooperation Author(s) Abdi, Hamid orcid.org/0000-0001-6597-7136 Nahavandi, Saeid Masouleh, Mehdi Tale Conference name International Conference on Intelligent Robots and Systems (2010 : Taipei, Taiwan) Conference location Taipei, Taiwan Conference dates 18-22 Oct. 2010 Title of proceedings 2010 IEEE/RSJ : Conference DVD proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Editor(s) Luo, Ren C. Lin, Huei-Yung Meng, Max Q.H. Asama, Hajime Tamura, Yusuke Publication date 2010 Conference series Intelligent Robots and Systems Conference Start page 2651 End page 2656 Total pages 6 Publisher IEEE Place of publication Piscataway, N. J. Keyword(s) fault tolerant robotic manipulators human robot cooperation actuator fault reliability least square minimization Summary When an assistant robotic manipulator cooperatively performs a task with a human and the task is required to be highly reliable, then fault tolerance is essential. To achieve the fault tolerance force within the human robot cooperation, it is required to map the effects of the faulty joint of the robot into the manipulator’s healthy joints’ torque space and the human force. The objective is to optimally maintain the cooperative force within the human robot cooperation. This paper aims to analyze the fault tolerant force within the cooperation and two frameworks are proposed. Then they have been validated through a fault scenario. Finally, the minimum force jump which is the optimal fault tolerance has been achieved. Notes ©2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. ISBN 1424466741 9781424466740 ISSN 2153-0866 Language eng Field of Research 090602 Control Systems, Robotics and Automation Socio Economic Objective 970109 Expanding Knowledge in Engineering HERDC Research category E1 Full written paper - refereed HERDC collection year 2010 Copyright notice ©2010, IEEE Persistent URL http://hdl.handle.net/10536/DRO/DU:30031245 Document type: Conference Paper Collections: Centre for Intelligent Systems Research Open Access Collection Related Links Link Description Connect to published version (restricted access) Go to link with your DU access privileges     Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au. Versions Version Filter Type Wed, 17 Nov 2010, 15:04:16 EST Wed, 17 Nov 2010, 15:06:58 EST Thu, 18 Nov 2010, 07:33:16 EST Thu, 18 Nov 2010, 11:39:24 EST Thu, 18 Nov 2010, 11:43:46 EST Thu, 18 Nov 2010, 11:44:22 EST Thu, 18 Nov 2010, 11:45:11 EST Fri, 19 Nov 2010, 08:11:56 EST Wed, 30 Nov 2011, 15:36:15 EST Wed, 30 Nov 2011, 15:38:02 EST Fri, 16 Mar 2012, 18:21:58 EST Tue, 12 Aug 2014, 08:34:00 EST Fri, 22 Aug 2014, 14:54:19 EST Wed, 21 Oct 2015, 13:50:06 EST Wed, 21 Oct 2015, 17:09:01 EST Tue, 06 Sep 2016, 16:04:56 EST Filtered Full Citation counts:   Cited 1 times in TR Web of Science Cited 3 times in Scopus Search Google Scholar Access Statistics: 684 Abstract Views, 273 File Downloads  -  Detailed Statistics Created: Wed, 17 Nov 2010, 15:04:08 EST by Sandra Dunoon

Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.