A tactile sensory-enhanced assistive robot

Users of tele-operated assistive robots, much like their counter-parts in other applications, have indicated concern about the lack of tactile feedback. While remarkable developments have been made in eliciting viable neuronal control of a robotic arm, the sensation of touch is needed in order to close the sensorimotor loop and enhance control of movement. We have developed a novel assistive robotic system that provides tactile feedback from a robotic gripper via a haptic interface to the user's tongue. In this paper we focus on the sensors suitable for inclusion in such a system. We explore the requirements for tactile sensors used in assistive robotics. A prototype sensor system with force (both normal and shear) and shape sensing capabilities is presented. This system is being used to evaluate the utility of various tactile sensing capabilities (e.g. normal vs. shear force, force distributions) in assistive robot applications.

[1]  Roger W. Brockett,et al.  The performance of a deformable-membrane tactile sensor: basic results on geometrically-defined tasks , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[2]  Bernard Roth,et al.  Analysis of Multifingered Hands , 1986 .

[3]  P. Bach-y-Rita.  Nonsynaptic Diffusion Neurotransmission and Late Brain Reorganization , 1995 .

[4]  Miguel A. L. Nicolelis,et al.  Real-time control of a robot arm using simultaneously recorded neurons in the motor cortex , 1999, Nature Neuroscience.

[5]  Andrew A. Goldenberg,et al.  Soft Robotic Fingertips , 1996, Int. J. Robotics Res..

[6]  Toshio Tsuji,et al.  EMG-based human-robot interface for rehabilitation aid , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[7]  Roger Orpwood,et al.  A WHEELCHAIR MOUNTED ASSISTIVE ROBOT , 1999 .

[8]  Roger W. Brockett.  Robotic hands with rheological surfaces , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[9]  Thomas B. Sheridan,et al.  Sensory Substitution for Force Feedback in Teleoperation , 1992, Presence: Teleoperators & Virtual Environments.

[10]  Roger W. Brockett,et al.  Reconstructing the Shape of a Deformable Membrane from Image Data , 2000, Int. J. Robotics Res..

[11]  Ronald S. Fearing,et al.  Sensing capabilities of linear elastic cylindrical fingers , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[12]  Kazuo Tanie,et al.  Development of a finger-shaped tactile sensor and its evaluation by active touch , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[13]  Dimiter Stefanov.  INTEGRATED CONTROL OF DESKTOP MOUNTED MANIPULATOR AND A WHEELCHAIR , 1999 .

[14]  C.J. Abul-Haj,et al.  Functional assessment of control systems for cybernetic elbow prostheses. I. Description of the technique , 1990, IEEE Transactions on Biomedical Engineering.

[15]  Oliver Lang,et al.  A FRIEND for assisting handicapped people , 2001, IEEE Robotics Autom. Mag..

[16]  P. Bach-y-Rita,et al.  Form perception with a 49-point electrotactile stimulus array on the tongue: a technical note. , 1998, Journal of rehabilitation research and development.

[17]  Håkan Eftring,et al.  Technical results from Manus user trials , 1999 .

[18]  Robert D. Howe,et al.  Tactile sensing and control of robotic manipulation , 1993, Adv. Robotics.

[19]  S D Prior.  An electric wheelchair mounted robotic arm--a survey of potential users. , 1990, Journal of medical engineering & technology.