Pressure control on whole surface of humanmimetic multi-fingered hand with tactile sensing

Taisuke Sugaiwa, Kunihhiro Iwamoto, Hiroyasu Iwata, Shigeki Sugano

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

    1 Citation (Scopus)

    Abstract

    As a work of human-symbiotic humanoid robot which can support human activities in daily life environment, we focused on tracking task with free-form surface which appears in giving bed-bath care to human and polishing complicated shaped furniture. In such cases, research issues are how to establish the contact by the whole surface and how to control the pressure exerting at each segment in the hand through the finger-arm coordinated motion. In this paper we proposed pressure control method on the whole surface of the human-mimetic multi-fingered hand with the tactile sensing. Passive compliance control algorithm for the contact at fingers and hybrid control algorithm with palm posture adjustment compose our control method. Our control method can achieve the adjustment to the curvature and local concavities and convexities of human body. By actual experiments using anthropomorphic humanoid robot TWENDY-ONE, we validated the effectiveness of this control method.

    Original languageEnglish
    Title of host publicationProceedings of the SICE Annual Conference
    Pages436-438
    Number of pages3
    Publication statusPublished - 2010
    EventSICE Annual Conference 2010, SICE 2010 - Taipei
    Duration: 2010 Aug 182010 Aug 21

    Other

    OtherSICE Annual Conference 2010, SICE 2010
    CityTaipei
    Period10/8/1810/8/21

    Fingerprint

    Pressure control
    Anthropomorphic robots
    Compliance control
    Polishing
    Robots
    Experiments

    Keywords

    • Finger-arm coordination
    • Human-symbiotic robot
    • Multi-fingered hand
    • Pressure control
    • Welfare service

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Control and Systems Engineering
    • Computer Science Applications

    Cite this

    Sugaiwa, T., Iwamoto, K., Iwata, H., & Sugano, S. (2010). Pressure control on whole surface of humanmimetic multi-fingered hand with tactile sensing. In Proceedings of the SICE Annual Conference (pp. 436-438). [5602555]

    Pressure control on whole surface of humanmimetic multi-fingered hand with tactile sensing. / Sugaiwa, Taisuke; Iwamoto, Kunihhiro; Iwata, Hiroyasu; Sugano, Shigeki.

    Proceedings of the SICE Annual Conference. 2010. p. 436-438 5602555.

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

    Sugaiwa, T, Iwamoto, K, Iwata, H & Sugano, S 2010, Pressure control on whole surface of humanmimetic multi-fingered hand with tactile sensing. in Proceedings of the SICE Annual Conference., 5602555, pp. 436-438, SICE Annual Conference 2010, SICE 2010, Taipei, 10/8/18.
    Sugaiwa T, Iwamoto K, Iwata H, Sugano S. Pressure control on whole surface of humanmimetic multi-fingered hand with tactile sensing. In Proceedings of the SICE Annual Conference. 2010. p. 436-438. 5602555
    Sugaiwa, Taisuke ; Iwamoto, Kunihhiro ; Iwata, Hiroyasu ; Sugano, Shigeki. / Pressure control on whole surface of humanmimetic multi-fingered hand with tactile sensing. Proceedings of the SICE Annual Conference. 2010. pp. 436-438
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