Development of a Safety-Oriented Interaction Strategy and Compliant Limb Sensor System for a Gait Rehabilitation Robot

Abstract

Robots are expanding into new fields through human-robot interaction, however this has created safety concerns due to collisions. This research develops the Safety-Oriented Interaction Strategy (SOIS) that detects collisions by measuring deformation of a compliant limb sensor (CLS) and yields using a zero force I would like to thank my supervisor, Mojtaba Ahmadi, for his guidance and encouragement throughout my thesis. I am also thankful for all the help I have received from Kyle Chisholm and Jennifer Baba in the ABL lab throughout my research. Finally a special thanks to my family and friends who have supported me throughout my studies. iv

Trajectory Planning for Contour Following and Robotic Deburring

“…In practice, no system is perfectly modelled, and disturbances will result in poor path tracking. Admittance control displays the inverse performance as it can track trajectories well, but encounters issues with interacting with high compliance environments, which causes limit cycle oscillations [39].…”