Human safety: the system must be safe enough to work in human environments around humans. Achieving this level of safety requires both the hardware and software systems to be integrally designed from the beginning of the design process. Mechanical design safety includes minimizing inertia, providing back-drivability, eliminating pinch points, carefully managing kinetic and potential energies as well as force output, and making appropriate material selection.
Robustness: in order to develop real world applications for robotics, we believe that, while simulation is a powerful tool for coding high-level software, developers must be able to implement and test their program in a real robot. To this end the robot meeds to be robust. For example it must be able to gracefully handle unexpected environmental conditions and buggy software commands without any down time.
Payload: up to now, robots have been strong and massive or weak and light, but never strong and light. Payload ratios for human sized industrial robots are on the order of 1:10, compared to a human arm ratio of approximately 1:1. Our system has a human-like payload ratio through an innovative gravity compensation mechanism that reduces structural weight, electric motor mass and torque requirements, while still accommodating heavy loads. The accomplishment of an order of magnitude reduction in structural mass has significant implication in safety, usability, and appropriateness of use in human environments.
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