A set of testing protocols was developed within COVR project to validate safety in robotic applications characterized by human-robot close interaction or collaboration. This protocol describes a method for validating the safety skill "Maintain proper alignment" for joint axis alignment (both translational as well as rotational) for exoskeleton type rehabilitation robots as well as exoskeleton type robots used in other domains. This protocol uses an instrumented artificial limb, by which the joint angles, contact forces as well as the forces and torques in the joint can be determined, to validate the skill.
Test Exoskeleton for Maintaining Proper Alignment for hinge type joints
Marcello Valori;
2021
Abstract
A set of testing protocols was developed within COVR project to validate safety in robotic applications characterized by human-robot close interaction or collaboration. This protocol describes a method for validating the safety skill "Maintain proper alignment" for joint axis alignment (both translational as well as rotational) for exoskeleton type rehabilitation robots as well as exoskeleton type robots used in other domains. This protocol uses an instrumented artificial limb, by which the joint angles, contact forces as well as the forces and torques in the joint can be determined, to validate the skill.File in questo prodotto:
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