Combining haptic sensing with safe physical interaction
Identifieur interne : 000113 ( Hal/Corpus ); précédent : 000112; suivant : 000114Combining haptic sensing with safe physical interaction
Auteurs : Martin Battaglia ; Laurent Blanchet ; Abderrahmane Kheddar ; Shuuji Kajita ; Yokoi KazuhitoSource :
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Abstract
We propose a solution which combines haptic sensing with safe interaction, at low cost. Contact locations are made through a flexible sheet of tactile binary switch matrix. This sheet covers the surface of a rigid bumper module assembled to the robot's basic link through a distributed pressure sensing units. Combination of location and force provides the haptic sensing module. The haptic system is covered with a flexible outer material which role is to absorb contact impacts and to cast local surface profile on which the robot can take support. This overall system allows having a combined haptic sensing with safe and robust physical interaction with both the environment and the human using active compliance. We discuss the benefit of such a simple and modular concept and present how to design the cover material. A simple prototype is realized and experienced.
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DOI: 10.1109/IROS.2009.5354141
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Hal:lirmm-00796360Le document en format XML
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<front><div type="abstract" xml:lang="en">We propose a solution which combines haptic sensing with safe interaction, at low cost. Contact locations are made through a flexible sheet of tactile binary switch matrix. This sheet covers the surface of a rigid bumper module assembled to the robot's basic link through a distributed pressure sensing units. Combination of location and force provides the haptic sensing module. The haptic system is covered with a flexible outer material which role is to absorb contact impacts and to cast local surface profile on which the robot can take support. This overall system allows having a combined haptic sensing with safe and robust physical interaction with both the environment and the human using active compliance. We discuss the benefit of such a simple and modular concept and present how to design the cover material. A simple prototype is realized and experienced.</div>
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<idno type="halAuthorId">823298</idno>
<affiliation ref="#struct-395113"></affiliation>
<affiliation ref="#struct-85257"></affiliation>
</author>
<author role="aut"><persName><forename type="first">Laurent</forename>
<surname>Blanchet</surname>
</persName>
<idno type="idHal">laurentblanchet</idno>
<idno type="halAuthorId">823299</idno>
<affiliation ref="#struct-85257"></affiliation>
<affiliation ref="#struct-6862"></affiliation>
</author>
<author role="aut"><persName><forename type="first">Abderrahmane</forename>
<surname>Kheddar</surname>
</persName>
<email>abderrahmane.kheddar@aist.go.jp</email>
<idno type="halAuthorId">831275</idno>
<affiliation ref="#struct-85257"></affiliation>
<affiliation ref="#struct-395113"></affiliation>
</author>
<author role="aut"><persName><forename type="first">Shuuji</forename>
<surname>Kajita</surname>
</persName>
<email>s.kajita@aist.go.jp</email>
<idno type="halAuthorId">379108</idno>
<affiliation ref="#struct-216100"></affiliation>
</author>
<author role="aut"><persName><forename type="first">Yokoi</forename>
<surname>Kazuhito</surname>
</persName>
<email>kazuhito.yokoi@aist.go.jp</email>
<idno type="halAuthorId">823300</idno>
<affiliation ref="#struct-216100"></affiliation>
</author>
</analytic>
<monogr><meeting><title>IROS'09: International Conference on Intelligent Robots and Systems</title>
<date type="start">2009-10-11</date>
<date type="end">2009-10-15</date>
<settlement>St. Louis, MO</settlement>
<country key="US">United States</country>
</meeting>
<imprint><biblScope unit="pp">231-236</biblScope>
<date type="datePub">2009-10-12</date>
</imprint>
</monogr>
<idno type="doi">10.1109/IROS.2009.5354141</idno>
</biblStruct>
</sourceDesc>
<profileDesc><langUsage><language ident="en">English</language>
</langUsage>
<textClass><keywords scheme="author"><term xml:lang="en">haptic interfaces</term>
<term xml:lang="en">medical robotics</term>
<term xml:lang="en">sensors</term>
</keywords>
<classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode>
<classCode scheme="halTypology" n="COMM">Conference papers</classCode>
</textClass>
<abstract xml:lang="en">We propose a solution which combines haptic sensing with safe interaction, at low cost. Contact locations are made through a flexible sheet of tactile binary switch matrix. This sheet covers the surface of a rigid bumper module assembled to the robot's basic link through a distributed pressure sensing units. Combination of location and force provides the haptic sensing module. The haptic system is covered with a flexible outer material which role is to absorb contact impacts and to cast local surface profile on which the robot can take support. This overall system allows having a combined haptic sensing with safe and robust physical interaction with both the environment and the human using active compliance. We discuss the benefit of such a simple and modular concept and present how to design the cover material. A simple prototype is realized and experienced.</abstract>
</profileDesc>
</hal>
</record>
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