{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,13]],"date-time":"2025-05-13T21:56:25Z","timestamp":1747173385896,"version":"3.40.5"},"reference-count":41,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2020,8,12]],"date-time":"2020-08-12T00:00:00Z","timestamp":1597190400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2021,5]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>The variable stiffness actuator (VSA) is helpful to realize the post-collision safety strategies for safe human\u2013robot interaction.<jats:sup>1<\/jats:sup> 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\u2013passive 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.<\/jats:p>","DOI":"10.1017\/s0263574720000715","type":"journal-article","created":{"date-parts":[[2020,8,12]],"date-time":"2020-08-12T08:09:52Z","timestamp":1597219792000},"page":"772-786","source":"Crossref","is-referenced-by-count":3,"title":["Importing the Human Factor into Safe Human\u2013Robot Interaction Function Using the Bond Graph Method"],"prefix":"10.1017","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9280-801X","authenticated-orcid":false,"given":"Po-Jen","family":"Cheng","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4965-6919","authenticated-orcid":false,"given":"Hsiang-Yuan","family":"Ting","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4910-8031","authenticated-orcid":false,"given":"Han-Pang","family":"Huang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2020,8,12]]},"reference":[{"key":"S0263574720000715_ref35","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574716000722"},{"key":"S0263574720000715_ref20","unstructured":"20. 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Tonietti, G. , Schiavi, R. and Bicchi, A. , \u201cDesign and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human\/Robot Interaction,\u201d Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain (April 2005), pp. 526\u2013531."},{"key":"S0263574720000715_ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA.2017.8015849"},{"key":"S0263574720000715_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2009.933629"},{"key":"S0263574720000715_ref34","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-012-0123-1"},{"key":"S0263574720000715_ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225245"},{"key":"S0263574720000715_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TSG.2017.2691782"},{"key":"S0263574720000715_ref21","unstructured":"21. Samantaray, A. K. and Belkacem, B. O. , \u201cBond Graph Model-based Quantitative FDI,\u201d In: Model-based Process Supervision: A Bond Graph Approach, Ch. 5 (Springer, London, 2008), pp. 177\u2013228."},{"key":"S0263574720000715_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2018.02.009"},{"key":"S0263574720000715_ref30","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-29041-1_3"},{"key":"S0263574720000715_ref32","doi-asserted-by":"publisher","DOI":"10.1109\/BioRob.2012.6290917"},{"key":"S0263574720000715_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2891007"},{"key":"S0263574720000715_ref5","doi-asserted-by":"publisher","DOI":"10.1561\/2300000052"},{"key":"S0263574720000715_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICIInfS.2013.6731981"},{"key":"S0263574720000715_ref38","first-page":"48","article-title":"Model matching contorl for an active-passive variable stiffness actuator","volume":"6","author":"Cheng","year":"2015","journal-title":"Int. J. Robot. 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S. , \u201cSafe Joint Mechanism Based on Nonlinear Stiffness for Safe Human-Robot Collision,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Pasadena, California (2008), pp. 2177\u20132182."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574720000715","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,4,7]],"date-time":"2021-04-07T09:03:20Z","timestamp":1617786200000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574720000715\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,8,12]]},"references-count":41,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2021,5]]}},"alternative-id":["S0263574720000715"],"URL":"https:\/\/doi.org\/10.1017\/s0263574720000715","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2020,8,12]]}}}