Whole-body covering tactile interface for human robot coordination

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

    54 Citations (Scopus)

    Abstract

    In this paper, we propose a design method of whole-body tactile interface for elevating human-robot coordination. The proposed surface cover sensor as the tactile interface enables robots to detect accurate 3-D force vector applied on various parts of the body during physical interaction with humans. First, after analysis of a variety of contact situations between humans and robots, tactile and force information needed are specified, and the specifications are decided based on knowledge of human engineering. Next, a design method of a cover sensor that can detect accurate force vector and contact position is described. The cover sensor utilizes a force-torque sensor and is surrounded with several touch sensors. The mechanism was implemented on a humanoid robot, WENDY. Finally, evaluation experiments of locus tracking on the surface and force-following to humans were carried out. The experimental results demonstrate the high capabilities of the proposed cover sensor as human-robot interface, and indicate that the proposed design method of whole-body tactile interface is capable of enhancing human-robot coordination.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages3818-3824
    Number of pages7
    Volume4
    Publication statusPublished - 2002
    Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
    Duration: 2002 May 112002 May 15

    Other

    Other2002 IEEE International Conference on Robotics and Automation
    CountryUnited States
    CityWashington, DC
    Period02/5/1102/5/15

    Fingerprint

    Haptic interfaces
    Robots
    Sensors
    Human engineering
    Torque
    Specifications

    Keywords

    • Human machine interaction
    • Human robot tactile interface
    • Humanoid robot
    • Intelligent systems

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Iwata, H., & Sugano, S. (2002). Whole-body covering tactile interface for human robot coordination. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 4, pp. 3818-3824)

    Whole-body covering tactile interface for human robot coordination. / Iwata, Hiroyasu; Sugano, Shigeki.

    Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4 2002. p. 3818-3824.

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

    Iwata, H & Sugano, S 2002, Whole-body covering tactile interface for human robot coordination. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 4, pp. 3818-3824, 2002 IEEE International Conference on Robotics and Automation, Washington, DC, United States, 02/5/11.
    Iwata H, Sugano S. Whole-body covering tactile interface for human robot coordination. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4. 2002. p. 3818-3824
    Iwata, Hiroyasu ; Sugano, Shigeki. / Whole-body covering tactile interface for human robot coordination. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4 2002. pp. 3818-3824
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