Design of a novel mobile assistive robot with haptic interaction

Author

Wang, Huanran ; Liu, Xiaoping P.

Author_Institution

Dept. of Syst. & Comput. Eng., Carleton Univ., Ottawa, ON, Canada

fYear

2012

fDate

2-4 July 2012

Firstpage

115

Lastpage

120

Abstract

This paper presents a prototype of noval assistive robotic system, for which the user can interact with a mobile robot using a haptic interface, for senior and disabled people. The system consists of a nonholonomic PeopleBot mobile robot and a Phantom Omni haptic interface. Several technical problems related to the system are addressed and solved. Specifically, a nonlinear tracking algorithm is developed for the robot to follow the user. To preserve the safety operation of the haptic device, a safety control algorithm is applied. Besides, a simple haptic rendering algorithm is designed to generate the haptic feedback based on the position error. Experiments show that the user can guide the movement of the robot quite safely and smoothly using the haptic interface.

Keywords

control system synthesis; geriatrics; handicapped aids; haptic interfaces; mobile robots; Phantom Omni haptic interface; assistive robotic system; disabled people; haptic device; haptic feedback; haptic interaction; haptic rendering algorithm; mobile assistive robot design; nonholonomic PeopleBot mobile robot; nonlinear tracking algorithm; safety control algorithm; senior people; Haptic interfaces; Humans; Mobile robots; Phantoms; Robot sensing systems; Safety;

fLanguage

English

Publisher

ieee

Conference_Titel

Virtual Environments Human-Computer Interfaces and Measurement Systems (VECIMS), 2012 IEEE International Conference on

Conference_Location

Tianjin

ISSN

1944-9429

Print_ISBN

978-1-4577-1758-1

Type

conf

DOI

10.1109/VECIMS.2012.6273219

Filename

6273219