Hand-shaped force interface for human-cooperative mobile robot

Riku Hikiji*, Shuji Hashimoto

*この研究の対応する著者

    研究成果: Conference contribution

    4 被引用数 (Scopus)

    抄録

    Aiming at realization of direct and intuitive cooperation between human and robot, we develop an interface system for a mobile robot that can take physical communication with its user via hand-to-hand force interaction. The hand-shaped device equipped on the robot with a flexible rubber-made arm can sense the intentional force exerted by its user. The finger part can be actuated in 1 DOF to achieve haptic force feedback. The robot also has bumper sensors and ultrasonic sensors around the body. The balance of the intentional force and the environmental condition determines the robot’s motion. In this research, we design simple algorithms for both human-following and humanleading motions, and devise experiments with human users. Qualitative and quantitative evaluations of the experimental results are also presented.

    本文言語English
    ホスト出版物のタイトルLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    出版社Springer Verlag
    ページ76-87
    ページ数12
    2058
    ISBN(印刷版)9783540423560
    出版ステータスPublished - 2001
    イベント1st International Workshop on Haptic Human-Computer Interaction, 2000 - Glasgow, United Kingdom
    継続期間: 2000 8 312000 9 1

    出版物シリーズ

    名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    2058
    ISSN(印刷版)03029743
    ISSN(電子版)16113349

    Other

    Other1st International Workshop on Haptic Human-Computer Interaction, 2000
    国/地域United Kingdom
    CityGlasgow
    Period00/8/3100/9/1

    ASJC Scopus subject areas

    • コンピュータ サイエンス(全般)
    • 理論的コンピュータサイエンス

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