Title :
Human assist by a mobile manipulator with high speed tactile sensor
Author :
Yamaguchi, Hisashi ; Xie, Zhaoxian ; Ming, Aiguo ; Shimojo, Makoto
Author_Institution :
Dept. of Mech. Eng. & Intell. Syst., Univ. of Electro-Commun., Chofu, Japan
Abstract :
As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize a safe assist by real time feedback control based on the information from a high speed tactile sensor for detecting the force and its center between the assisted people and robot arm. This paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system and the control methods about basic movement necessary for stand-up movement support according to the tactile information.
Keywords :
feedback; force sensors; handicapped aids; manipulators; medical robotics; mobile robots; tactile sensors; high speed tactile sensor; human assistance; mobile manipulator system; real time feedback control; robot arm; stand-up movement support; tactile information; Force sensors; Human robot interaction; Manipulators; Motion control; Robot kinematics; Robot sensing systems; Safety; Senior citizens; Symbiosis; Tactile sensors; Elderly people; High speed tactile sensor; Human assist; Mobile manipulator; Stand-up;
Conference_Titel :
Information and Automation (ICIA), 2010 IEEE International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-5701-4
DOI :
10.1109/ICINFA.2010.5512465
