SUMMARYThe variable stiffness actuator (VSA) is helpful to realize the post-collision safety strategies for safe human–robot interaction.1 The stiffness of the robot will be reduced to protect the user from injury when the collision between the robot and human occurs. However, The VSA has a mechanism limit constraint that can cause harm to users even if the stiffness is minimized. Accordingly, in this article, a concept combining danger index and robust fault detection and isolation is presented and applied to active–passive variable stiffness elastic actuator (APVSEA). APVSEA can actively change joint stiffness with the change of danger index. Experimental results show that this concept can effectively confirm the fault mode and provide additional protection measures to ensure the safety of users when the joint stiffness has been adjusted to the minimum.

中文翻译：

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使用 Bond Graph 方法将人的因素导入到安全的人机交互函数中

摘要可变刚度执行器（VSA）有助于实现安全人机交互的碰撞后安全策略。1当机器人与人发生碰撞时，机器人的刚度会降低，以保护用户免受伤害。但是，VSA 有一个机制限制约束，即使刚度最小化也可能对用户造成伤害。因此，在本文中，提出了一个将危险指数与鲁棒故障检测和隔离相结合的概念，并将其应用于主动-被动可变刚度弹性致动器（APVSEA）。APVSEA可以随着危险指数的变化而主动改变关节刚度。实验结果表明，该概念可以有效地确认故障模式，并在关节刚度调整到最小的情况下提供额外的保护措施，以确保用户的安全。