A Review of Powered Backdrivability of Robot Actuators for Human-Robot Interaction
文献类型：会议论文
| 作者 | Du, Qinghao; Zhang, Tuopu; Yang, Guilin; Chen, Chin-yin; Wang, Weijun; Zhang, Chi |
| 出版日期 | 2021 |
| 会议日期 | AUG 01-04, 2021 |
| 关键词 | TORQUE ESTIMATION EXOSKELETON LIGHTWEIGHT |
| DOI | 10.1109/ICIEA51954.2021.9516160 |
| 英文摘要 | To achieve effective and safe Human-Robot Interaction (HRI), much attention is paid on the backdrivability of robot actuators. According to the realization approaches, the backdrivability of actuators are classified into two categories, i.e., powered and unpowered backdrivabilities. This paper focuses on the powered backdrivability realized through controlling actuator reversely based on the sensor feedback. A thorough literature review is conducted to obtain an in-depth understanding about the research advances on powered backdrivability of actuators. The definition, classification and evaluation methods of the actuator backdrivability are discussed firstly. Powered backdrivabilities with force sensors and encoders are reviewed. The research direction of powered backdrivabilities is proposed based on the discussion. |
| 会议录出版者 | IEEE Conference on Industrial Electronics and Applications |
| 学科主题 | Engineering |
| ISSN号 | 2156-2318 |
| ISBN号 | 978-1-6654-2248-2 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23258]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Du, Qinghao,Zhang, Tuopu,Yang, Guilin,et al. A Review of Powered Backdrivability of Robot Actuators for Human-Robot Interaction[C]. 见:. AUG 01-04, 2021. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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