Human-Robot Interaction and Collaborative Manipulation with Multimodal Perception Interface for Human
Human-Robot Interaction and Collaborative Manipulation with Multimodal Perception Interface for Human
复制标题
具有人类多模态感知接口的人机交互和协作操纵
DOI：
10.1145/3349537.3352795
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Y. Yamakawa
中科院分区：
文献类型：
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作者：
Shouren Huang;M. Ishikawa;Y. Yamakawa
在本研究中，介绍了结合人类视觉和触觉的多通道感知界面的人-机器人交互。在提出的人-机器人协作方法中，基于由粗到精的策略，综合了人类的认知能力和机器人的精确运动控制能力。人类操作员被指定在利用人类视觉和触觉模式的反馈界面下进行粗略的全局运动。同时，具有高速执行器和高速感觉反馈的机器人模块实现了主动的、不涉及人类意图感知的精细局部运动。实验证明了该方法的有效性。
In this study, human-robot interaction with multimodal perception interface combining human visual and haptic perception is introduced. In the proposed human-robot collaboration method, cognitive capabilities of human and accurate motion control capabilities of robot are integrated based on a coarse-to-fine strategy. Human operator is designated for coarse global motion under feedback interfaces utilizing human visual as well as haptic modalities. Simultaneously, fine local motion in an active manner without involving human intention-aware is realized by a robotic module with high-speed actuators and high-speed sensory feedback. Experiments demonstrated the effectiveness of the proposed method.