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.
|ジャーナル||Proceedings - IEEE International Conference on Robotics and Automation|
|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 11 → 2002 5 15
ASJC Scopus subject areas