Design and Control of a Bio-inspired Human-Friendly Robot

Dongjun Shin, Irene Sardellitti, Yong Lae Park, Oussama Khatib, Mark Cutkosky

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)


The increasing demand for physical interaction between humans and robots has led to the development of robots that guarantee safe behavior when human contact occurs. However, attaining established levels of performance while ensuring safety poses formidable challenges in mechanical design, actuation, sensing and control. To achieve safety without compromising performance, the human-friendly robotic arm has been developed using the concept of hybrid actuation. The new design employs inherently-safe pneumatic artificial muscles augmented with small electrical actuators, human-bone-inspired robotic links, and newly designed distributed compact pressure regulators with proportional valves. The experimental results show that significant performance improvement that can be achieved with hybrid actuation over a system with pneumatic artificial muscles alone. The paper evaluates the safety of the new robot arm and demonstrates that the safety characteristics surpass those of previous human-friendly robots.

Original languageEnglish
Title of host publicationExperimental Robotics - The Eleventh International Symposium
Number of pages10
Publication statusPublished - 2009
Event11th International Symposium on Experimental Robotics, ISER 2008 - Athens, Greece
Duration: 2008 Jul 132008 Jul 16

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Conference11th International Symposium on Experimental Robotics, ISER 2008

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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