Intelligent Haptic tactile Human Robot and Robot Environment Interaction

Whole-sensitive robot arm iSoRA was developed to provide human-like capabilities of contact task performing in a wide variety of unstructured environments. To facilitate the developed anthropomorphic robot arm with joint torque measuring ability, the new optical torque sensors characterized by good accuracy, high signal-to-noise ratio, compact sizes, easy manufacturing, high signal bandwidth, robustness, and low cost were designed and manufactured. The main novelty of our method is application of the optical approach based on the ultra-small size PI RPI-121 as sensitive element. The effectiveness of the admittance control for ensuring the safety in human-robot physical interaction was experimentally illustrated on a new whole-sensitive robot arm.
The proposed concept of obstacle avoidance through whole-arm tactile interaction enables the manipulator to adapt the planned motion to the obstacle shape. Such an algorithm is especially valuable for service robots working in real indoor environments. Tactile interaction gains the essential information about the contacting object (shape, stiffness, location, etc.).
The developed robot iSoRA and control system have great potential to impact on the robot technologies for emerging human-robot coexistence society. In future, such robots will assist humans in daily life tasks, and provide the physical collaborative interaction and haptic communication while ensuring safety to the humans.

Developer: Assistant Professor Dzmitry Tsetserukou
Website: http://sites.google.com/site/dzmitrytsetserukou/

Category:

Science & Technology

Tags:

• human robot interaction
• physical interaction
• intelligent haptic interaction
• active haptic exploration
• tactile obstacle avoidance
• robot arm
• optical torque sensor
• admittance control
• impedance control
• sense of touch
• iSoRA

[DomDom708]

cool! WHAt does it do? What about the one that is the same as a human