Human-machine interaction through object using robot arm with tactile sensors

Kitti Suwanratchatamanee*, Mitsuharu Matsumoto, Shuji Hashimoto

*この研究の対応する著者

    研究成果: Conference contribution

    9 被引用数 (Scopus)

    抄録

    This paper presents a tactile interaction system for human-machine interaction and an active sensing technique to realize object surface sensing for human-machine interaction tasks. The tactile sensor unit implemented on the robot hand consists of three force-sensitive resistors arranged triangularly. The unit not only can detect the reactive force from the object but also determine the orientation of the object surface. Our research goal is to realize an effective robot controller for the 3D object handling. As a possible application, we also introduce an effective human-robot cooperation to move an object together. This application is realized by a control of a hand pose to keep the direction of the hand normal to the object surface in 3-D, which is often necessary when pushing an object. We also show the experimental results using the proposed sensor unit.

    本文言語English
    ホスト出版物のタイトルProceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
    ページ683-688
    ページ数6
    DOI
    出版ステータスPublished - 2008
    イベント17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN - Munich
    継続期間: 2008 8月 12008 8月 3

    Other

    Other17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
    CityMunich
    Period08/8/108/8/3

    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

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