南京航空航天大学学报（英文版）2025，Vol.42Issue(4)：464-476,13.DOI:10.16356/j.1005-1120.2025.04.003
一种用于外肢体机器人人机安全的串联弹性关节的开发和实验评估
Development and Experimental Evaluation of Human-Robot Safety of a Series Elastic Joint for Supernumerary Robotic Limbs
摘要
Abstract
Human-robot safety is an important topic in wearable robotics,especially in supernumerary robotic limbs(SRLs).The proposal of flexible joint improves human-robot safety strategy,which allows physical contact between human and robots,rather than strictly limiting the human-robot motion.However,most researchers focus on the variable stiffness features of flexible joints,but few evaluate the performance of the flexible joint in the human-robot collision.Therefore,the performance of two typical flexible joints,including the series elastic joint(SEJ)and the passive variable stiffness joint(PVSJ),are compared through dynamic collision experiments.The results demonstrate that the SEJ absorbs 40.7%—58.7%of the collision force and 34.2%—45.2%of the collision torque in the driven-torque below 4 N·m and driven-speed of 3-7(°)/s,which is more stable than PVSJ.In addition,the stiffness error of SEJ is measured at 5.1%,significantly lower than the 23.04%measured in the PVSJ.The huge stiffness error of PVSJ leads to its unreliability in buffering collision.Furthermore,we analyze results and confirm that SEJ has a more stable human-robot safety performance in buffering dynamic collision.Consequently,the SEJ is suitable in SRLs for human-robot safety in our scenario.关键词
外肢体机器人/变刚度关节/串联弹性关节/人机安全/穿戴式机器人Key words
supernumerary robotic limbs(SRLs)/variable stiffness joint(SEJ)/series elastic joint/human-robot safety/wearable robot分类
信息技术与安全科学引用本文复制引用
肖遥,廖梓宇,渠文杰,常天佐,刘珂铭,陈柏..一种用于外肢体机器人人机安全的串联弹性关节的开发和实验评估[J].南京航空航天大学学报（英文版）,2025,42(4):464-476,13.基金项目
This work was supported by the Na-tional Natural Science Foundation of China(No.U22A20204)and the Innovation Foundation from National Clinical Research Center for Orthopedics,Sports Medicine&Rehabilitation Foundation(No.23-NCRC-CXJJ-ZD3-8). （No.U22A20204）
