Tactile Sensing for Safe Physical Human-Robot Interaction

被引：0
|
作者：
Elkmann, Norbert [1 ]
Fritzsche, Markus [1 ]
Schulenburg, Erik [1 ]
机构：
[1] Fraunhofer Inst Factory Operat & Automat, Business Unit Robot Syst, Magdeburg, Germany
来源：
PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON ADVANCES IN COMPUTER-HUMAN INTERACTIONS (ACHI 2011) | 2011年
关键词：
artificial skin; human-robot interaction; mobile robot; tactile sensor;
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
Human-robot interaction in a shared workspace permits and often even requires physical contact between humans and robots. A key technology for a safe physical human-robot interaction is the monitoring of contact forces by providing the robot with a tactile sensor as an artificial skin. This paper presents a pressure-sensitive skin for the mobile assistant robot LiSA (Life Science Assistant). It can be adapted to complex geometries and it can reliably measure contact on the entire robot body. The sensitive skin is equipped with integrated cushioning elements reducing the risk of dangerous injuries in physical human-robot interaction. Besides its safety function, the sensitive skin offers touch-based robot motion control that simplifies human-robot interaction. In the paper we describe the sensor setup and the hardware implementation on the mobile assistant robot LiSA and explain the strategies for a safe human-robot interaction. Beyond that we describe the algorithms enabling direct touch-based robot control and present some fundamental results from our evaluation experiments.
引用
收藏
页码：212 / 217
页数：6
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