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

Jingguo Wang, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-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 languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Pages1559-1564
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2010
Externally publishedYes
Event2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin, China
Duration: 14 Dec 201018 Dec 2010

Conference

Conference2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Country/TerritoryChina
CityTianjin
Period14/12/1018/12/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biotechnology
  • Human-Computer Interaction

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