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 language | English |
|---|---|
| Pages (from-to) | 3818-3824 |
| Number of pages | 7 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 4 |
| Publication status | Published - 2002 Jan 1 |
| Event | 2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States Duration: 2002 May 11 → 2002 May 15 |
Keywords
- Human machine interaction
- Human robot tactile interface
- Humanoid robot
- Intelligent systems
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering