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

21 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
PublisherIEEE Computer Society
Pages1785-1790
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005

Publication series

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

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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