发表机构
ESPOL Polytechnic University（ESPOL理工大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究通过实验对比刚性关节与串联弹性执行器（SEA）柔性关节机械臂的握手交互，发现SEA能提升用户的安全感和舒适感，促进更安全、更被社会接受的人机交互。
AI 中文摘要
在社交技术的发展中，人机物理交互中的安全性和舒适性是至关重要的方面，其中像握手这样的自然手势由于直接的身体接触而构成了挑战。采用串联弹性执行器（SEA）来吸收冲击被提出作为一种有利于更安全交互的设计策略。本文提出了一项实验研究，旨在评估在机械臂中加入SEA如何影响握手过程中的感知安全性和交互体验。该设计允许直接比较刚性关节与加入弹性元件之间的效果差异，以确定SEA在改善日常环境中机器人系统的物理安全性和社会接受度方面的优势。实验共有10名志愿者（6名男性和4名女性）参与，他们分别与每只机械臂进行了两次交互：一次使用刚性关节，另一次使用配备SEA的柔性关节。在测试过程中，收集了末端执行器轨迹的客观数据，以及通过一项侧重于握手过程中安全性、自然性和信心的感知调查所获得的主观信息。调查结果显示，配备SEA的机械臂在安全感和舒适感方面有所提升，这支持了其在促进更安全、更被社会接受的人机交互方面的潜力。
英文摘要
Safety and comfort in human-robot physical in-teractions are essential aspects in the development of social technologies, where natural gestures, such as handshakes, represent a challenge due to their direct physical contact. The implementation of series elastic actuators (SEA) to absorb impacts is proposed as a design strategy that favors safer interactions. This paper presents an experimental study aimed at evaluating how the incorporation of SEAs in robotic arms influences perceived safety and the interaction experience dur-ing handshaking. The design allows a direct comparison of the effect of rigidity versus the incorporation of elastic elements, in order to identify the advantages of SEAs in improving the physical safety and social acceptance of robotic systems in everyday contexts. The experiment was carried out with 10 volunteers (6 men and 4 women), who performed two interactions with each robotic arm: one with rigid joints and the other with flexible joints using SEA. During testing, objective data on end-effector trajectories were collected, as well as subjective information through a perception survey focused on safety, naturalness, and confidence during the handshake. The survey results show increased perceptions of safety and comfort with the SEA-equipped arm, supporting its potential to facilitate safer and more socially accepted human-robot interactions.
