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
    EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB
    Duration: 2005 Aug 22005 Aug 6

    Other

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

    Fingerprint

    Manipulators
    Robots
    Leaf springs
    Sensors
    Experiments

    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

    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] https://doi.org/10.1109/IROS.2005.1545261

    Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints. / Iwata, Hiroyasu; Kobashi, Seiji; Aono, Tatsuhito; Sugano, Shigeki.

    2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 1941-1946 1545261.

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

    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., 1545261, pp. 1941-1946, IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005, Edmonton, AB, 05/8/2. https://doi.org/10.1109/IROS.2005.1545261
    Iwata H, Kobashi S, Aono T, Sugano S. Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 1941-1946. 1545261 https://doi.org/10.1109/IROS.2005.1545261
    Iwata, Hiroyasu ; Kobashi, Seiji ; Aono, Tatsuhito ; Sugano, Shigeki. / Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. pp. 1941-1946
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