Manipulation with soft-fingertips for safe pHRI

Manipulation with soft-fingertips is proposed as a tool for interacting with rigid objects, based on an online bilateral teleoperation fuzzy controller, without time delay. The fuzzy inference engine tunes continuously the force feedback gain to increase awareness of physical interaction so as to gr...

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Veröffentlicht in:2012 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI) S. 155 - 156
Hauptverfasser: Armendariz, Jorge, García-Rodríguez, Rodolfo, Machorro-Fernández, Felipe, Parra-Vega, Vicente
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: New York, NY, USA ACM 05.03.2012
IEEE
Schriftenreihe:ACM Conferences
Schlagworte:
bilateral teleoperation control
Computer systems organization > Embedded and cyber-physical systems > Robotics > External interfaces for robotics
Computer systems organization > Embedded and cyber-physical systems > Robotics > Robotic components
Dynamics
Force feedback
fuzzy-based force control
Humans
physical Human-Robot Interaction (pHRI)
Robots
Soft-fingertips
Thumb
USA Councils
fuzzy-based force control
bilateral teleoperation control
soft-fingertips
physical human-robot interaction (phri)
ISBN:145031063X, 9781450310635
ISSN:2167-2121
Online-Zugang:Volltext
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Zusammenfassung:Manipulation with soft-fingertips is proposed as a tool for interacting with rigid objects, based on an online bilateral teleoperation fuzzy controller, without time delay. The fuzzy inference engine tunes continuously the force feedback gain to increase awareness of physical interaction so as to grasping is achieved. In contrast to the case of rigid fingertip, wherein infinitely small contact point is assumed, it is argued that our scheme allows safe and intuitive interaction, which has proved effective in an experimental study with 19 subjects. Results indicate success due to feedback of slave contact force to the human user. Subjects consistently judge comfort and easiness of manipulation, with an experimental two-hand prototype.
ISBN:145031063X
9781450310635
ISSN:2167-2121
DOI:10.1145/2157689.2157732