TY - GEN
T1 - Experimental Evaluation of Cooperativeness and Collision Safety of a Wearable Robot Arm
AU - Nakabayashi, Koki
AU - Iwasaki, Yukiko
AU - Takahashi, Shota
AU - Iwata, Hiroyasu
N1 - Funding Information:
ACKNOWLEDGMENT Research is financially supported by Waseda University Global Robot Academia Institute. The author would like to thank R. Tsumura and R. Sato for valuable discussions. The author also would like to thank to the research participants for commitments to the experiment.
Publisher Copyright:
© 2018 IEEE.
Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.
PY - 2018/11/6
Y1 - 2018/11/6
N2 - This paper presents an experimental evaluation of a collaborative task for a design assessment of a wearable robot arm. Wearable robotic devices have been recently proposed as a new concept of the human robot collaboration. In particular, wearable robot arms have been expected to complement our physical capabilities and perform multiple tasks simultaneously. However, a design principle of a wearable robot arm based on the cooperativeness and collision safety has not been discussed sufficiently. The design factors of the wearable robot arm are considered to have a dominant influence on the cooperativeness and collision safety. We therefore conducted an experiment to evaluate time required for a collaborative task and number of collisions with a robot arm device. Arm lengths and attachment positions were compared in the conducted experiment as a design factor of a wearable robot arm. The experimental results indicated a correlation between evaluation indexes and design factors. As a result, we suggest that the concept design of a wearable robot arm is recommended to consist of an extended arm length without constraints of the attachment positions.
AB - This paper presents an experimental evaluation of a collaborative task for a design assessment of a wearable robot arm. Wearable robotic devices have been recently proposed as a new concept of the human robot collaboration. In particular, wearable robot arms have been expected to complement our physical capabilities and perform multiple tasks simultaneously. However, a design principle of a wearable robot arm based on the cooperativeness and collision safety has not been discussed sufficiently. The design factors of the wearable robot arm are considered to have a dominant influence on the cooperativeness and collision safety. We therefore conducted an experiment to evaluate time required for a collaborative task and number of collisions with a robot arm device. Arm lengths and attachment positions were compared in the conducted experiment as a design factor of a wearable robot arm. The experimental results indicated a correlation between evaluation indexes and design factors. As a result, we suggest that the concept design of a wearable robot arm is recommended to consist of an extended arm length without constraints of the attachment positions.
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U2 - 10.1109/ROMAN.2018.8525620
DO - 10.1109/ROMAN.2018.8525620
M3 - Conference contribution
AN - SCOPUS:85058124748
T3 - RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication
SP - 1026
EP - 1031
BT - RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 27th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2018
Y2 - 27 August 2018 through 31 August 2018
ER -