On the Design of a Safe Human-Friendly Teleoperated System for Doppler Sonography
AbstractVariable stiffness actuators are employed to improve the safety features of robots that share a common workspace with humans. In this paper, a study of a joint variable stiffness device developed by PPRIME Institute—called V2SOM— for implementation in the joints of a multi-DoF robot is presented. A comparison of the interaction forces produced by a rigid body robot and a flexible robot using the V2SOM is provided through a dynamic simulator of a 7-DoF robot. As an example of potential applications, robot-assisted Doppler echography is proposed, which mainly focuses on guaranteeing patient safety when the robot holding the ultrasound probe comes into contact with the patient. For this purpose, an evaluation of both joint and Cartesian control approaches is provided. The simulation results allow us to corroborate the effectiveness of the V2SOM device to guarantee human safety when it is implemented in a multi-DoF robot.
Share & Cite This Article
Sebastián Arévalo, J.S.; Laribi, M.A.; Zeghloul, S.; Arsicault, M. On the Design of a Safe Human-Friendly Teleoperated System for Doppler Sonography. Robotics 2019, 8, 29.
Sebastián Arévalo JS, Laribi MA, Zeghloul S, Arsicault M. On the Design of a Safe Human-Friendly Teleoperated System for Doppler Sonography. Robotics. 2019; 8(2):29.Chicago/Turabian Style
Sebastián Arévalo, Juan Sandoval; Laribi, Med Amine; Zeghloul, Saïd; Arsicault, Marc. 2019. "On the Design of a Safe Human-Friendly Teleoperated System for Doppler Sonography." Robotics 8, no. 2: 29.
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.