Title :
Human-machine interaction through object using robot arm with tactile sensors
Author :
Suwanratchatamanee, Kitti ; Matsumoto, Mitsuharu ; Hashimoto, Shuji
Author_Institution :
Grad. Sch. of Adv. Sci. & Eng., Waseda Univ., Tokyo
Abstract :
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.
Keywords :
force feedback; haptic interfaces; human computer interaction; man-machine systems; manipulators; position control; tactile sensors; 3D object handling; active sensing; force-sensitive resistors; hand direction; hand pose control; human-machine interaction; human-robot cooperation; object moving; object pushing; object surface orientation; object surface sensing; reactive force detection; robot arm; robot controller; robot hand; tactile interaction system; tactile sensors; Educational technology; Human robot interaction; Man machine systems; Robot control; Robot kinematics; Robot sensing systems; Robot vision systems; Service robots; Shape; Tactile sensors;
Conference_Titel :
Robot and Human Interactive Communication, 2008. RO-MAN 2008. The 17th IEEE International Symposium on
Conference_Location :
Munich
Print_ISBN :
978-1-4244-2212-8
Electronic_ISBN :
978-1-4244-2213-5
DOI :
10.1109/ROMAN.2008.4600746