A simplified whole-body haptic sensing system with multiple supporting points

Author

Hanyu, Ryosuke ; Tsuji, Toshiaki ; Abe, Shigeru

Author_Institution

Saitama Univ., Saitama, Japan

fYear

2010

fDate

21-24 March 2010

Firstpage

691

Lastpage

696

Abstract

The present paper proposes a whole-body haptic sensing system with multiple supporting points for a body and sensor mechanism. Using this mechanism, the position of a single contact point on the robot is calculated without any sensor array. The mechanism is composed of a cylindrical end-effector surrounding the body and multiple force sensor devices. An external force is transmitted to the sensor device through the end-effector and is measured by the sensor devices. The present paper describes a calculation method for the proposed system. First, the basic concept of the mechanism is introduced using a simple model. Next, some problems and solutions for a multiple supporting haptic mechanism are discussed.

Keywords

end effectors; force control; force sensors; haptic interfaces; human-robot interaction; motion control; position control; body mechanism; cylindrical end-effector; external force; force sensor devices; multiple supporting points; robot position; sensor array; sensor mechanism; whole-body haptic sensing system; Force measurement; Force sensors; Haptic interfaces; Humans; Motion control; Robot sensing systems; Safety; Sensor arrays; Sensor phenomena and characterization; Tactile sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 2010 11th IEEE International Workshop on

Conference_Location

Nagaoka, Niigata

ISSN

1943-6572

Print_ISBN

978-1-4244-6668-9

Electronic_ISBN

1943-6572

Type

conf

DOI

10.1109/AMC.2010.5464045

Filename

5464045