Hand-shaped force interface for human-cooperative mobile robot

Riku Hikiji, Shuji Hashimoto

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

    4 Citations (Scopus)

    Abstract

    Aiming at realization of direct and intuitive cooperation between human and robot, we develop an interface system for a mobile robot that can take physical communication with its user via hand-to-hand force interaction. The hand-shaped device equipped on the robot with a flexible rubber-made arm can sense the intentional force exerted by its user. The finger part can be actuated in 1 DOF to achieve haptic force feedback. The robot also has bumper sensors and ultrasonic sensors around the body. The balance of the intentional force and the environmental condition determines the robot’s motion. In this research, we design simple algorithms for both human-following and humanleading motions, and devise experiments with human users. Qualitative and quantitative evaluations of the experimental results are also presented.

    Original languageEnglish
    Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    PublisherSpringer Verlag
    Pages76-87
    Number of pages12
    Volume2058
    ISBN (Print)9783540423560
    Publication statusPublished - 2001
    Event1st International Workshop on Haptic Human-Computer Interaction, 2000 - Glasgow, United Kingdom
    Duration: 2000 Aug 312000 Sep 1

    Publication series

    NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    Volume2058
    ISSN (Print)03029743
    ISSN (Electronic)16113349

    Other

    Other1st International Workshop on Haptic Human-Computer Interaction, 2000
    CountryUnited Kingdom
    CityGlasgow
    Period00/8/3100/9/1

    Keywords

    • Force interaction
    • Haptic interface
    • Human-cooperative robot
    • Human-following
    • Human-leading
    • Human-machine interface
    • “Kansei”

    ASJC Scopus subject areas

    • Computer Science(all)
    • Theoretical Computer Science

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  • Cite this

    Hikiji, R., & Hashimoto, S. (2001). Hand-shaped force interface for human-cooperative mobile robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 2058, pp. 76-87). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2058). Springer Verlag.