Human-robot cooperation for heavy object manipulation based on sensing pneumatic pressure in air cushions

Nozawa, Hidetaka; Lee, Suwoong; Kim, Jae-Il; Inoue, Kenji

doi:10.1109/aim.2012.6265986

Cited by 3 publications

(2 citation statements)

References 9 publications

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“…Abinaya et al also studied an air pressure sensor based smart shoes for gait monitoring and reported that the pressure changes in the air bladder are linearly proportional to the exerted force [ 30 ]. Nozawa et al proposed a method of sensing pneumatic pressure in air cushions for human-robot cooperative heavy object manipulation [ 31 ]. The air bladder as a sensing device possesses some noticeable advantages for co-operative applications: the air in the bladder is compressible, thus the air bladder is compliant and makes soft contact between the human and the robot.…”

Section: Introductionmentioning

confidence: 99%

A Pneumatic Tactile Sensor for Co-Operative Robots

Gong

et al. 2017

Sensors

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Tactile sensors of comprehensive functions are urgently needed for the advanced robot to co-exist and co-operate with human beings. Pneumatic tactile sensors based on air bladder possess some noticeable advantages for human-robot interaction application. In this paper, we construct a pneumatic tactile sensor and apply it on the fingertip of robot hand to realize the sensing of force, vibration and slippage via the change of the pressure of the air bladder, and we utilize the sensor to perceive the object’s features such as softness and roughness. The pneumatic tactile sensor has good linearity, repeatability and low hysteresis and both its size and sensing range can be customized by using different material as well as different thicknesses of the air bladder. It is also simple and cheap to fabricate. Therefore, the pneumatic tactile sensor is suitable for the application of co-operative robots and can be widely utilized to improve the performance of service robots. We can apply it to the fingertip of the robot to endow the robotic hand with the ability to co-operate with humans and handle the fragile objects because of the inherent compliance of the air bladder.

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Section: Introductionmentioning

confidence: 99%

A Pneumatic Tactile Sensor for Co-Operative Robots

Gong

et al. 2017

Sensors

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“…It was not until 2014 the number of human-focused papers started matching the number of technical papers. This suggests either an increase in interest in the one or two years leading up to this point or that the technological or ethical requirements for safe SHRC had been met to a wider [34,40,48,85,90,92] Pressure sensors [78,101,116] Projected Augmented Reality [49,70,72] Robot-mounted controller [8,9,28] Visual interfaces [82,83] Audio interfaces [82] Tactile sensors [7] Probabilistic state machine 18 [3, 11, 16, 22, 30, 40, 42, 62, 64-66, 68, 72, 96, 98, 108-110] Machine learning 13 [15,33,39,46,51,56,85,89,99,103,113,121,124] Speech recognition 11 [13,17,41,46,57,69,80,94,102,106,123] Gesture recognition [25,90,94] Multi-robot coordination…”

Section: Research Trendsmentioning

confidence: 99%

Human-Robot Trust Assessment From Physical Apprehension Signals

Hald

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