Human Support Robotics Based on Haptic Recognition

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Haptic modality is one of the most important considerations in man-machine communication. Therefore, this project developed a technique to recognize commands based on the signals from tactile sensors.Firstly, the command recognition technique so-calledhaptic gesturewas developed for efficient operation of a human support robot. Since the tactile sensor has drawbacks of low stiffness and low strength, a mechanism with multiple supporting points was developed. It was shown that the recognition rate improves with the multiple supporting point mechanism.Secondly, a whole-body force sensation algorithm for a non-convex shaped end-effector was developed. The limitation on the shape of the tactile sensor was eliminated with this algorithm.Thirdly, this project introduced a personal identification technique based on force information of finger tracing. Compared to other biometric methods, the proposed method has the advantage of high security due to the non-visible nature of force information.