ICRA 2011 Paper Abstract


Paper WeP211.1

Shafer, Alex (The University of Western Ontario), Kermani, Mehrdad R. (University of Western Ontario)

Design and Validation of a Magneto-Rheological Clutch for Practical Control Applications in Human-Friendly Manipulation

Scheduled for presentation during the Regular Sessions "Physical Human-Robot Interaction II" (WeP211), Wednesday, May 11, 2011, 15:25−15:40, Room 5F

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Physical Human-Robot Interaction, New Actuators for Robotics, Force Control


In This paper we present the design and experimental validation of a Magneto-Rheological (MR) clutch developed for servo control applications in human friendly robotics systems. The clutch is developed as a practical prototype for potential industrial applications in the low to mid torque range. Conventional servo motors have been shown to lack the necessary properties to deliver intrinsically safe actuation for physical interaction with humans. Several human safe actuation paradigms have been proposed, however tend to increase mechanical complexity as well as require more sophisticated control strategies. Furthermore, many of the proposed solutions have failed to demonstrate a practical implementation that provides the necessary performance capabilities required for practical applications in automation, as well as more general servo control applications. MR clutch devices have been shown to provide favorable characteristics for such tasks, however have focussed primarily on haptic systems or low torque applications. The developed prototype MR clutch is capable of transmitting up to 75 Nm, and has a control bandwidth of approximately 30 Hz.



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