Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints

Hiroyasu Iwata, Seiji Kobashi, Tatsuhito Aono, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Citations (Scopus)

Abstract

In this paper, we describe the design method of an anthropomorphic 4-DOF tactile interaction manipulator with mechanically passive joints giving robots to accomplish high performance force-following and tactile-based contact state recognition despite physical interference and contact with humans occurring at links and at joints. The shape and appearance of this manipulator was based on statistical data on the Japanese male physique to allow for human-like contact interaction recognition. Joint are passively compliant, consisting of a mechanical leaf spring and rotary damper giving the manipulator high passivity. Cylindrical or spherical surfaces of the body including the elbow and wrist are overlaid with distributed tactile sensors acquiring accurate contact information. Evaluation experiments indicate that the manipulator provides high performance of force-following and tactile stimulation measurement during physical interference and contact with humans and confirmed its effectiveness in improving human/robot symbiosis.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages1941-1946
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: 2005 Aug 22005 Aug 6

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Conference

ConferenceIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CountryCanada
CityEdmonton, AB
Period05/8/205/8/6

Keywords

  • Force control
  • Haptic sensing
  • Human robot interaction
  • Passivity
  • Safety

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Iwata, H., Kobashi, S., Aono, T., & Sugano, S. (2005). Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1941-1946). [1545261] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2005.1545261