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 |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Pages | 3818-3824 |
| Number of pages | 7 |
| Volume | 4 |
| Publication status | Published - 2002 |
| Event | 2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States Duration: 2002 May 11 → 2002 May 15 |
Other
| Other | 2002 IEEE International Conference on Robotics and Automation |
|---|---|
| Country | United States |
| City | Washington, DC |
| Period | 02/5/11 → 02/5/15 |
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Keywords
- Human machine interaction
- Human robot tactile interface
- Humanoid robot
- Intelligent systems
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Whole-body covering tactile interface for human robot coordination
AU - Iwata, Hiroyasu
AU - Sugano, Shigeki
PY - 2002
Y1 - 2002
N2 - 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.
AB - 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.
KW - Human machine interaction
KW - Human robot tactile interface
KW - Humanoid robot
KW - Intelligent systems
UR - http://www.scopus.com/inward/record.url?scp=0036058539&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0036058539&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0036058539
VL - 4
SP - 3818
EP - 3824
BT - Proceedings - IEEE International Conference on Robotics and Automation
ER -