NDLI: Human-machine interaction through object using robot arm with tactile sensors

Content Provider	IEEE Xplore Digital Library
Author	Suwanratchatamanee, K. Matsumoto, M. Hashimoto, S.
Copyright Year	2008
Description	Author affiliation: Grad. Sch. of Adv. Sci. & Eng., Waseda Univ., Tokyo (Suwanratchatamanee, K.; Matsumoto, M.; Hashimoto, S.)
Abstract	This paper presents a tactile interaction system for human-machine interaction and an active sensing technique to realize object surface sensing for human-machine interaction tasks. The tactile sensor unit implemented on the robot hand consists of three force-sensitive resistors arranged triangularly. The unit not only can detect the reactive force from the object but also determine the orientation of the object surface. Our research goal is to realize an effective robot controller for the 3D object handling. As a possible application, we also introduce an effective human-robot cooperation to move an object together. This application is realized by a control of a hand pose to keep the direction of the hand normal to the object surface in 3-D, which is often necessary when pushing an object. We also show the experimental results using the proposed sensor unit.
Starting Page	683
Ending Page	688
File Size	2126102
Page Count	6
File Format	PDF
ISBN	9781424422128
DOI	10.1109/ROMAN.2008.4600746
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-08-01
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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