Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints
Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints
复制标题
拟人化四自由度被动关节触觉交互机械臂设计
DOI：
10.1109/iros.2005.1545261
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发表时间：
2005
期刊：
影响因子：
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通讯作者：
S. Sugano
中科院分区：
文献类型：
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作者：
H. Iwata;S. Kobashi;T. Aono;S. Sugano
在本文中，我们描述了一个拟人的4自由度触觉交互机械手的设计方法，机械被动关节，使机器人能够完成高性能的力以下和基于触摸的接触状态识别，尽管物理干扰和接触人类发生在链接和关节。该机械手的形状和外观基于日本男性体格的统计数据，以允许类似人类的接触交互识别。关节是被动顺应的，由机械片簧和旋转阻尼器组成，使机械手具有高被动性。包括手肘和手腕的身体的圆柱形或球形表面覆盖有获取准确接触信息的分布式触觉传感器。评估实验表明，机械手提供了高性能的力跟随和触觉刺激测量过程中的物理干扰和接触与人类，并确认其有效性，在改善人类/机器人共生。
In this paper, we describe the design method of an anthropomorphic 4-DOF tactile interaction manipulator with mechanically passive joints allowing 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.
DOI：
10.1109/iros.2003.1249691
发表时间：
2003-12
期刊：
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
影响因子：
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作者：
K. Kosuge;Tomohiro Hayashi;Y. Hirata;Ryosuke Tobiyama
通讯作者：
K. Kosuge;Tomohiro Hayashi;Y. Hirata;Ryosuke Tobiyama