Manipulation Using Tactile Information for a Nursing-Care Assistant Robot in Whole-Body Contact with the Object
Manipulation Using Tactile Information for a Nursing-Care Assistant Robot in Whole-Body Contact with the Object
复制标题
使用触觉信息对全身接触物体的护理助理机器人进行操纵
DOI：
10.1299/kikaic.77.3794
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
Y. Hayakawa
中科院分区：
文献类型：
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作者：
T. Mukai;S. Hirano;H. Nakashima;Morio Yoshida;Shijie Guo;Y. Hayakawa
在老龄化社会中，对机器人技术的需求很大，以解决人口老龄化带来的问题。我们已经开发了一个原型护理助理机器人，RIBA，旨在与病人直接接触，并进行具有身体挑战性的任务。RIBA通过其手臂和身体上的多个分布式接触区域与其对象（通常是人类）进行交互。为了获得这种全身接触的信息，RIBA在其手臂的广泛区域上安装了触觉传感器。可能发生与被操纵的人的硬接触的区域具有几乎平坦的表面，导致涉及有限面积的表面接触，以便减小接触压力并且不引起人的疼痛。当控制人的位置和取向时，应尽可能保持分布的接触表面的相对位置和取向，以保持稳定的接触并且不擦伤人的皮肤。使用触觉反馈保持每个接触区域的力和压力模式对于提供稳定和舒适的人机物理交互也是重要的。在本文中，我们提出了一个全身接触操纵方法，利用触觉信息，以满足这些要求。基本实验的结果也显示。
In aging societies, there is a strong demand for robotics to tackle problems resulting from the aging population. We have developed a prototype nursing-care assistant robot, RIBA, which was designed to come in direct contact with patients and conduct physically challenging tasks. RIBA interacts with its object, typically a human, through multiple and distributed contact regions on its arms and body. To obtain information on such whole-body contact, RIBA has tactile sensors on a wide area of its arms. The regions where hard contact with the manipulated person may occur have almost flat surfaces, leading to surface contact involving a finite area, in order to reduce contact pressure and not to cause the person’s pain. When controlling the position and orientation of the person, the relative positions and orientations of the distributed contacting surfaces should be preserved as far as possible to maintain stable contact and not to graze the person’s skin. Preserving the force and the pressure pattern of each contact region using tactile feedback is also important to provide stable and comfortable human-robot physical interaction. In this paper, we propose a whole-body contact manipulation method using tactile information to meet these requirements. Results of basic experiments are also shown.