Human-machine interaction through object using robot arm with tactile sensors

Kitti Suwanratchatamanee; Mitsuharu Matsumoto; Shuji Hashimoto

doi:10.1109/ROMAN.2008.4600746

Human-machine interaction through object using robot arm with tactile sensors

Kitti Suwanratchatamanee^*, Mitsuharu Matsumoto, Shuji Hashimoto

^*Corresponding author for this work

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

9 Citations (Scopus)

Abstract

This paper presents a tactile interaction system for human-machine interaction and an active sensing technique to realize object surface sensing for human-machine interaction tasks. The tactile sensor unit implemented on the robot hand consists of three force-sensitive resistors arranged triangularly. The unit not only can detect the reactive force from the object but also determine the orientation of the object surface. Our research goal is to realize an effective robot controller for the 3D object handling. As a possible application, we also introduce an effective human-robot cooperation to move an object together. This application is realized by a control of a hand pose to keep the direction of the hand normal to the object surface in 3-D, which is often necessary when pushing an object. We also show the experimental results using the proposed sensor unit.

Original language	English
Title of host publication	Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
Pages	683-688
Number of pages	6
DOIs	https://doi.org/10.1109/ROMAN.2008.4600746
Publication status	Published - 2008
Event	17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN - Munich Duration: 2008 Aug 1 → 2008 Aug 3

Other

Other	17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
City	Munich
Period	08/8/1 → 08/8/3

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction

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10.1109/ROMAN.2008.4600746

Cite this

Suwanratchatamanee, K, Matsumoto, M & Hashimoto, S 2008, Human-machine interaction through object using robot arm with tactile sensors. in Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN., 4600746, pp. 683-688, 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN, Munich, 08/8/1. https://doi.org/10.1109/ROMAN.2008.4600746

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title = "Human-machine interaction through object using robot arm with tactile sensors",

abstract = "This paper presents a tactile interaction system for human-machine interaction and an active sensing technique to realize object surface sensing for human-machine interaction tasks. The tactile sensor unit implemented on the robot hand consists of three force-sensitive resistors arranged triangularly. The unit not only can detect the reactive force from the object but also determine the orientation of the object surface. Our research goal is to realize an effective robot controller for the 3D object handling. As a possible application, we also introduce an effective human-robot cooperation to move an object together. This application is realized by a control of a hand pose to keep the direction of the hand normal to the object surface in 3-D, which is often necessary when pushing an object. We also show the experimental results using the proposed sensor unit.",

author = "Kitti Suwanratchatamanee and Mitsuharu Matsumoto and Shuji Hashimoto",

year = "2008",

doi = "10.1109/ROMAN.2008.4600746",

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AU - Hashimoto, Shuji

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AB - This paper presents a tactile interaction system for human-machine interaction and an active sensing technique to realize object surface sensing for human-machine interaction tasks. The tactile sensor unit implemented on the robot hand consists of three force-sensitive resistors arranged triangularly. The unit not only can detect the reactive force from the object but also determine the orientation of the object surface. Our research goal is to realize an effective robot controller for the 3D object handling. As a possible application, we also introduce an effective human-robot cooperation to move an object together. This application is realized by a control of a hand pose to keep the direction of the hand normal to the object surface in 3-D, which is often necessary when pushing an object. We also show the experimental results using the proposed sensor unit.

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Human-machine interaction through object using robot arm with tactile sensors

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