書誌事項
- タイトル別名
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- Whole-Body Haptic Interface in Human Symbiotic Robots.
- ニンゲン キョウゾン ロボット ノ タメ ノ ゼンシン ショッカク インタフェース
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抄録
In this paper, we propose a whole-body haptic interface for human symbiotic robots. First, tactile and force information are specified to accurately detect physical interferences with humans, on the entire surface of human symbiotic robots. Next, a design method of whole-body surface cover sensors which enables robots to detect accurate force vectors applied on various surfaces of the body is described. The basic structure of the cover sensor utilizes a force-torque sensor and is surrounded with several touch sensors. The cover structure was implemented on a humanoid robot, WENDY. Finally, experiments were carried out to verify the effectiveness of the proposed method as human-robot haptic interface. The results show high capabilities of locus tracking on the surface and arm motion-processing based on the detected tactile and force information, and indicate that the proposed design method for realizing whole-body haptic interface is capable of enhancing human-robot symbiosis.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 20 (5), 543-549, 2002
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204725929984
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- NII論文ID
- 10009988614
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 6223838
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可