Combining haptic sensing with safe physical interaction
Identifieur interne : 003F67 ( Main/Exploration ); précédent : 003F66; suivant : 003F68Combining haptic sensing with safe physical interaction
Auteurs : Martin Battaglia [France] ; Laurent Blanchet [Japon] ; Abderrahmane Kheddar [Japon] ; Shuuji Kajita [Japon] ; Yokoi Kazuhito [Japon]Source :
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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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scheme="mix" xml:lang="en"><term>haptic interfaces</term><term>medical robotics</term><term>sensors</term></keywords></textClass></profileDesc></teiHeader><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></front></TEI><affiliations><list><country><li>France</li><li>Japon</li></country></list><tree><country name="France"><noRegion><name sortKey="Battaglia, Martin" sort="Battaglia, Martin" uniqKey="Battaglia M" first="Martin" last="Battaglia">Martin Battaglia</name></noRegion></country><country name="Japon"><noRegion><name sortKey="Blanchet, Laurent" sort="Blanchet, Laurent" uniqKey="Blanchet L" first="Laurent" last="Blanchet">Laurent Blanchet</name></noRegion><name sortKey="Kajita, Shuuji" sort="Kajita, Shuuji" uniqKey="Kajita S" first="Shuuji" last="Kajita">Shuuji Kajita</name><name sortKey="Kazuhito, Yokoi" sort="Kazuhito, Yokoi" uniqKey="Kazuhito Y" first="Yokoi" last="Kazuhito">Yokoi Kazuhito</name><name sortKey="Kheddar, Abderrahmane" sort="Kheddar, Abderrahmane" uniqKey="Kheddar A" first="Abderrahmane" last="Kheddar">Abderrahmane Kheddar</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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