Human-machine interaction through object using robot arm with tactile sensors

Kitti Suwanratchatamanee, Mitsuharu Matsumoto, Shuji Hashimoto

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

    9 Citations (Scopus)

    Abstract

    This paper presents a tactile interaction system for human-machine interaction and an active sensing technique to realize object surface sensing for human-machine interaction tasks. The tactile sensor unit implemented on the robot hand consists of three force-sensitive resistors arranged triangularly. The unit not only can detect the reactive force from the object but also determine the orientation of the object surface. Our research goal is to realize an effective robot controller for the 3D object handling. As a possible application, we also introduce an effective human-robot cooperation to move an object together. This application is realized by a control of a hand pose to keep the direction of the hand normal to the object surface in 3-D, which is often necessary when pushing an object. We also show the experimental results using the proposed sensor unit.

    Original languageEnglish
    Title of host publicationProceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
    Pages683-688
    Number of pages6
    DOIs
    Publication statusPublished - 2008
    Event17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN - Munich
    Duration: 2008 Aug 12008 Aug 3

    Other

    Other17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
    CityMunich
    Period08/8/108/8/3

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Human-Computer Interaction

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  • Cite this

    Suwanratchatamanee, K., Matsumoto, M., & Hashimoto, S. (2008). Human-machine interaction through object using robot arm with tactile sensors. In Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN (pp. 683-688). [4600746] https://doi.org/10.1109/ROMAN.2008.4600746