Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints

Hiroyasu Iwata; Seiji Kobashi; Tatsuhito Aono; Shigeki Sugano

doi:10.1109/IROS.2005.1545261

Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints

Hiroyasu Iwata^*, Seiji Kobashi, Tatsuhito Aono, Shigeki Sugano

^*Corresponding author for this work

School of Creative Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

22 Citations (Scopus)

Abstract

In this paper, we describe the design method of an anthropomorphic 4-DOF tactile interaction manipulator with mechanically passive joints giving robots to accomplish high performance force-following and tactile-based contact state recognition despite physical interference and contact with humans occurring at links and at joints. The shape and appearance of this manipulator was based on statistical data on the Japanese male physique to allow for human-like contact interaction recognition. Joint are passively compliant, consisting of a mechanical leaf spring and rotary damper giving the manipulator high passivity. Cylindrical or spherical surfaces of the body including the elbow and wrist are overlaid with distributed tactile sensors acquiring accurate contact information. Evaluation experiments indicate that the manipulator provides high performance of force-following and tactile stimulation measurement during physical interference and contact with humans and confirmed its effectiveness in improving human/robot symbiosis.

Original language	English
Title of host publication	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Publisher	IEEE Computer Society
Pages	1785-1790
Number of pages	6
ISBN (Print)	0780389123, 9780780389120
DOIs	https://doi.org/10.1109/IROS.2005.1545261
Publication status	Published - 2005

Publication series

Name	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

Force control
Haptic sensing
Human robot interaction
Passivity
Safety

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction
Control and Systems Engineering

Access to Document

10.1109/IROS.2005.1545261

Cite this

Iwata, H., Kobashi, S., Aono, T., & Sugano, S. (2005). Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1785-1790). Article 1545261 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1545261

Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints. / Iwata, Hiroyasu; Kobashi, Seiji; Aono, Tatsuhito et al.
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. IEEE Computer Society, 2005. p. 1785-1790 1545261 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Iwata, H, Kobashi, S, Aono, T & Sugano, S 2005, Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints. in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 1545261, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, IEEE Computer Society, pp. 1785-1790. https://doi.org/10.1109/IROS.2005.1545261

Iwata H, Kobashi S, Aono T, Sugano S. Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. IEEE Computer Society. 2005. p. 1785-1790. 1545261. (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). doi: 10.1109/IROS.2005.1545261

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Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints

Abstract

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Keywords

ASJC Scopus subject areas

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