Command recognition by haptic interface on human support robot

This paper describes a method for command recognition by a haptic interface on a human support robot. Feature quantities are derived from the contact trajectory when an operator runs his finger across the haptic interface. The robot then recognizes a command based on these derived feature quantities from the symbolized contact trajectory. Conforming the robot motion to the symbolized contact trajectory allows for intuitive operation of the robot. The experimental results indicate that novice operators using this interface can obtain high command recognition rates.

[1]  Yoji Yamada,et al.  Highly soft viscoelastic robot skin with a contact object-location-sensing capability , 2005, IEEE Transactions on Industrial Electronics.

[2]  Kyle B. Reed,et al.  Haptic cooperation between people, and between people and machines , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Shigeki Sugano,et al.  Whole-body covering tactile interface for human robot coordination , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[4]  Hiroshi Ishiguro,et al.  Haptic Communication Between Humans and Robots , 2005, ISRR.

[5]  Kazuhiro Kosuge,et al.  Coordinated Transportation of a Single Object by Omni-Directional Mobile Robots with Body Force Sensor , 2000, J. Robotics Mechatronics.

[6]  Kouhei Ohnishi,et al.  Collision Avoidance Method of Humanoid Robot With Arm Force , 2004, IEEE Transactions on Industrial Electronics.

[7]  Kouhei Ohnishi,et al.  Motion control for advanced mechatronics , 1996 .

[8]  Kazuhiko Terashima,et al.  Impedance control for safety and comfortable navigation of an omni-directional mobile wheelchair , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[9]  Antonio Bicchi,et al.  Intrinsic contact sensing for soft fingers , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[10]  Y. Kaneko,et al.  Whole-body force sensation by robot with outer shell , 2008, 2008 10th IEEE International Workshop on Advanced Motion Control.

[11]  Toshio Fukuda,et al.  Stable Contact Control of Robotic Manipulator Based on Unified Approach , 1993 .

[12]  Toshiyuki Murakami,et al.  Torque sensorless control in multidegree-of-freedom manipulator , 1993, IEEE Trans. Ind. Electron..

[13]  Luke S. Zettlemoyer,et al.  An Imprecise Mouse Gesture for the Fast Activation of Controls , 1999, INTERACT.

[14]  Toshiaki Tsuji,et al.  Whole-Body Force Sensation by Force Sensor With Shell-Shaped End-Effector , 2009, IEEE Transactions on Industrial Electronics.

[15]  John Kenneth Salisbury,et al.  Interpretation of contact geometries from force measurements , 1984, ICRA.