Title :
Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints
Author :
Iwata, Hiroyasu ; Kobashi, Seiji ; Aono, Tatsuhito ; Sugano, Shigeki
Author_Institution :
Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan
Abstract :
In this paper, we describe the design method of an anthropomorphic 4-DOF tactile interaction manipulator with mechanically passive joints allowing robots to accomplish high performance force-following and tactile-based contact state recognition despite physical interference and contact with humans occurring at links and at joints. The shape and appearance of this manipulator was based on statistical data on the Japanese male physique to allow for human-like contact interaction recognition. Joint are passively compliant, consisting of a mechanical leaf spring and rotary damper giving the manipulator high passivity. Cylindrical or spherical surfaces of the body including the elbow and wrist are overlaid with distributed tactile sensors acquiring accurate contact information. Evaluation experiments indicate that the manipulator provides high performance of force-following and tactile stimulation measurement during physical interference and contact with humans and confirmed its effectiveness in improving human/robot symbiosis.
Keywords :
dexterous manipulators; distributed sensors; humanoid robots; tactile sensors; anthropomorphic 4-DOF tactile interaction manipulator; distributed tactile sensors; force control; force-following contact state recognition; haptic sensing; human robot interaction; human-like contact interaction recognition; manipulator design; mechanical leaf spring; passive joints; rotary damper; tactile-based contact state recognition; Anthropomorphism; Design methodology; Elbow; Human robot interaction; Interference; Joints; Manipulators; Shape; Springs; Wrist; Force control; Haptic sensing; Human robot interaction; Passivity; Safety;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545261