{"title":"可折叠机器人手臂的设计与实验评价:FRAHI","authors":"Bhivraj Suthar, Y. Choi, Seul Jung","doi":"10.1109/RO-MAN50785.2021.9515456","DOIUrl":null,"url":null,"abstract":"This paper presents a new concept of supplementary arms for the collaborative task with a worker during a thin panel installation on the wall. Foldable robot arms for holding and installation (FRAHI) using scissor structure have been proposed as a new concept of the human-robot collaboration. The foldable and wearable FRAHI arm has been designed to influence cooperativeness and worker safety. FRAHI arms are developed and integrated with a worker's safety suit, and a soft and flexible waist belt is introduced for the arms and worker interface, comfortable to the user while working. The design principle of FRAHI is based on folding capability, gravity compensation for the cooperative thin-panel installation with workers. The experimental demonstration of a thin panel installation on the wall has been performed for the feasibility of the supplementary arm for worker assistance and cooperativeness in construction works.","PeriodicalId":6854,"journal":{"name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","volume":"1 1","pages":"899-904"},"PeriodicalIF":0.0000,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Design and Experimental Evaluation of Foldable Robot Arms for a Holding and Installation Work: FRAHI\",\"authors\":\"Bhivraj Suthar, Y. Choi, Seul Jung\",\"doi\":\"10.1109/RO-MAN50785.2021.9515456\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a new concept of supplementary arms for the collaborative task with a worker during a thin panel installation on the wall. Foldable robot arms for holding and installation (FRAHI) using scissor structure have been proposed as a new concept of the human-robot collaboration. The foldable and wearable FRAHI arm has been designed to influence cooperativeness and worker safety. FRAHI arms are developed and integrated with a worker's safety suit, and a soft and flexible waist belt is introduced for the arms and worker interface, comfortable to the user while working. The design principle of FRAHI is based on folding capability, gravity compensation for the cooperative thin-panel installation with workers. The experimental demonstration of a thin panel installation on the wall has been performed for the feasibility of the supplementary arm for worker assistance and cooperativeness in construction works.\",\"PeriodicalId\":6854,\"journal\":{\"name\":\"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)\",\"volume\":\"1 1\",\"pages\":\"899-904\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-08-08\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RO-MAN50785.2021.9515456\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RO-MAN50785.2021.9515456","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Design and Experimental Evaluation of Foldable Robot Arms for a Holding and Installation Work: FRAHI
This paper presents a new concept of supplementary arms for the collaborative task with a worker during a thin panel installation on the wall. Foldable robot arms for holding and installation (FRAHI) using scissor structure have been proposed as a new concept of the human-robot collaboration. The foldable and wearable FRAHI arm has been designed to influence cooperativeness and worker safety. FRAHI arms are developed and integrated with a worker's safety suit, and a soft and flexible waist belt is introduced for the arms and worker interface, comfortable to the user while working. The design principle of FRAHI is based on folding capability, gravity compensation for the cooperative thin-panel installation with workers. The experimental demonstration of a thin panel installation on the wall has been performed for the feasibility of the supplementary arm for worker assistance and cooperativeness in construction works.
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