A study on a robotic arm contacting with human skin using tactile sensing feedback strategies

Jingguo Wang; Yangmin Li

doi:10.1109/ROBIO.2010.5723562

A study on a robotic arm contacting with human skin using tactile sensing feedback strategies

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

1 Citation (Scopus)

Abstract

Inspired by human's tactile sensing in daily lives, we present an approach using the tactile sensing plus force-torque information as the feedback to control the robotic arm interacting with our soft human skin in this paper. Three main types of contact between the end-effector of robotic arm and human skin are introduced and the contact model is built up. Hybrid impedance control method is applied to control both the position and force trajectories of the manipulator at the same time. With the feedback of tactile sensing data such as contact state, contact area and so on, several strategies of tactile sensing feedback are included in the control algorithm. Two groups of real experiments are made using a two-link robotic arm equipped with force/torque and tactile sensors to contact with human skin. The results have confirmed the effectiveness of the proposed strategies.

Original language	English
Title of host publication	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Pages	1559-1564
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2010.5723562
Publication status	Published - 1 Dec 2010
Externally published	Yes
Event	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin, China Duration: 14 Dec 2010 → 18 Dec 2010

Conference

Conference	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Country/Territory	China
City	Tianjin
Period	14/12/10 → 18/12/10

ASJC Scopus subject areas

Artificial Intelligence
Biotechnology
Human-Computer Interaction

More information

10.1109/ROBIO.2010.5723562

Cite this

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title = "A study on a robotic arm contacting with human skin using tactile sensing feedback strategies",

abstract = "Inspired by human's tactile sensing in daily lives, we present an approach using the tactile sensing plus force-torque information as the feedback to control the robotic arm interacting with our soft human skin in this paper. Three main types of contact between the end-effector of robotic arm and human skin are introduced and the contact model is built up. Hybrid impedance control method is applied to control both the position and force trajectories of the manipulator at the same time. With the feedback of tactile sensing data such as contact state, contact area and so on, several strategies of tactile sensing feedback are included in the control algorithm. Two groups of real experiments are made using a two-link robotic arm equipped with force/torque and tactile sensors to contact with human skin. The results have confirmed the effectiveness of the proposed strategies.",

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doi = "10.1109/ROBIO.2010.5723562",

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A study on a robotic arm contacting with human skin using tactile sensing feedback strategies. / Wang, Jingguo; Li, Yangmin.
2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010. 2010. p. 1559-1564 5723562.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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A study on a robotic arm contacting with human skin using tactile sensing feedback strategies

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ASJC Scopus subject areas

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