Whole-body covering tactile interface for human robot coordination

Hiroyasu Iwata*, Shigeki Sugano

*この研究の対応する著者

研究成果: Conference article査読

58 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)3818-3824
ページ数7
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
4
出版ステータスPublished - 2002 1 1
イベント2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
継続期間: 2002 5 112002 5 15

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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