Action-Intention-Based Grasp Control With Fine Finger-Force Adjustment Using Combined Optical-Mechanical Tactile Sensor
Action-Intention-Based Grasp Control With Fine Finger-Force Adjustment Using Combined Optical-Mechanical Tactile Sensor
复制标题
DOI：
10.1109/jsen.2014.2331689
复制
发表时间：
2014-11-01
影响因子：
4.3
通讯作者：
Osada, Kenichi
中科院分区：
文献类型：
--
作者：
Saen, Makoto;Ito, Kiyoto;Osada, Kenichi
本文提出了一种控制方法，使它成为可能的家庭使用的操作系统，可以很容易地抓住不同重量和硬度的对象。为使非专业人员易于操作，提出了一种基于动作意图的人机交互方法。为了实现精细的手指力控制所需的把握各种对象，结合光学机械触觉传感方法与高灵敏度的滑动检测也被开发出来。此外，作为多传感器操作系统的平台，建立了一个分层的多处理器控制器。所开发的方法进行了实验评估，通过使用由机器人手和用户界面的原型操作系统。评估结果表明，机械手系统可以用来轻松地抓住各种物体，如卷起的纸巾（重4克）和粘土填充的纸板管（重500克）。还评价了远程控制的可操作性。所开发的方法使得有可能根据触觉传感信息的基础上的目标对象微调手指的力量。
This paper presents a control method that makes it possible for a home-use manipulation system to easily grasp objects with various weights and hardnesses. To provide easy operability for nonprofessional persons, an action-intention-based man-machine interaction method was developed. To enable the fine finger-force control required for grasping various objects, a combined optical-mechanical tactile sensing method with high-sensitivity slip detection was also developed. In addition, as a platform for manipulation systems with many sensors, a hierarchical multiprocessor controller was built. The developed methods were evaluated experimentally by using a prototype manipulation system consisting of a robotic hand and a user interface. The evaluation results demonstrate that the manipulator system can be used to easily grasp various objects, such as a rolled-up paper towel (weighing 4 g) and a clay-filled cardboard tube (weighing 500 g). Operability in remote control was also evaluated. The developed methods make it possible to fine-tune the finger force according to target object on the basis of tactile sensing information.