HapticV1, Hal, Curation, bibRecord, 000113

Combining haptic sensing with safe physical interaction

Identifieur interne : 000113 ( Hal/Curation ); précédent : 000112; suivant : 000114

Combining haptic sensing with safe physical interaction

Auteurs : Martin Battaglia [France] ; Laurent Blanchet [Japon] ; Abderrahmane Kheddar [Japon] ; Shuuji Kajita [Japon] ; Yokoi Kazuhito [Japon]

Source :

RBID : Hal:lirmm-00796360

English descriptors

mix :
- haptic interfaces, medical robotics, sensors.

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.

Url:

http://hal-lirmm.ccsd.cnrs.fr/lirmm-00796360

DOI: 10.1109/IROS.2009.5354141

Links toward previous steps (curation, corpus...)

to stream Hal, to step Corpus: Pour aller vers cette notice dans l'étape Curation :000113

Links to Exploration step

Hal:lirmm-00796360

Le 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="stamp" n="IDH" p="LIRMM">Interactive Digital Humans</idno>
<idno type="stamp" n="LIRMM">Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier</idno>
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<note type="invited" n="0">No</note>
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<sourceDesc><biblStruct><analytic><title xml:lang="en">Combining haptic sensing with safe physical interaction</title>
<author role="crp"><persName><forename type="first">Martin</forename>
<surname>Battaglia</surname>
</persName>
<email>battaglia@lirmm.fr</email>
<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>
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<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>
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<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>
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Combining haptic sensing with safe physical interaction

Combining haptic sensing with safe physical interaction

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