Vibrotactile feedback for aiding robot kinesthetic teaching of manipulation tasks
Vibrotactile feedback for aiding robot kinesthetic teaching of manipulation tasks
复制标题
振动触觉反馈有助于机器人操作任务的动觉教学
DOI：
10.1109/roman.2017.8172397
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
C. Avizzano
中科院分区：
文献类型：
--
作者：
E. Ruffaldi;Alessandro Di Fava;Claudio Loconsole;A. Frisoli;C. Avizzano
Kinesthetic teaching is a viable solution for programming robots in the execution of new tasks thanks to the human-mediated mapping between the task objectives and the robot joint space. Redundant designs and differences from human kinematics pose challenges in the efficient execution of the teaching task. In this work we employ vibrotactile feedback letting operators understand specific kinematic constraints such as reaching joint limits and singularities. The experimentation with a Baxter robot and a four-motor vibrotactile bracelet is reported showing the effectiveness of the proposed enhancement to the kinesthetic teaching task.
