Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints

Hiroyasu Iwata*, Seiji Kobashi, Tatsuhito Aono, Shigeki Sugano

*この研究の対応する著者

研究成果: Conference contribution

22 被引用数 (Scopus)

抄録

In this paper, we describe the design method of an anthropomorphic 4-DOF tactile interaction manipulator with mechanically passive joints giving robots to accomplish high performance force-following and tactile-based contact state recognition despite physical interference and contact with humans occurring at links and at joints. The shape and appearance of this manipulator was based on statistical data on the Japanese male physique to allow for human-like contact interaction recognition. Joint are passively compliant, consisting of a mechanical leaf spring and rotary damper giving the manipulator high passivity. Cylindrical or spherical surfaces of the body including the elbow and wrist are overlaid with distributed tactile sensors acquiring accurate contact information. Evaluation experiments indicate that the manipulator provides high performance of force-following and tactile stimulation measurement during physical interference and contact with humans and confirmed its effectiveness in improving human/robot symbiosis.

本文言語English
ホスト出版物のタイトル2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
出版社IEEE Computer Society
ページ1785-1790
ページ数6
ISBN(印刷版)0780389123, 9780780389120
DOI
出版ステータスPublished - 2005

出版物シリーズ

名前2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

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