Manipulation Using Tactile Information for a Nursing-Care Assistant Robot in Whole-Body Contact with the Object
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- MUKAI Toshiharu
- RIKEN RTC
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- HIRANO Shinya
- (独)理化学研究所RTC
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- NAKASHIMA Hiromichi
- (独)理化学研究所RTC
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- YOSHIDA Morio
- RIKEN RTC
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- GUO Shijie
- 東海ゴム(株)
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- HAYAKAWA Yoshikazu
- 名古屋大学大学院工学研究科機械理工学専攻
Bibliographic Information
- Other Title
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- 対象と全身接触を行う介護支援ロボットのための触覚情報を用いた繰り動作
Abstract
In aging societies, there is a strong demand for robotics to tackle problems resulting from the aging population. We have developed a prototype nursing-care assistant robot, RIBA, which was designed to come in direct contact with patients and conduct physically challenging tasks. RIBA interacts with its object, typically a human, through multiple and distributed contact regions on its arms and body. To obtain information on such whole-body contact, RIBA has tactile sensors on a wide area of its arms. The regions where hard contact with the manipulated person may occur have almost flat surfaces, leading to surface contact involving a finite area, in order to reduce contact pressure and not to cause the person's pain. When controlling the position and orientation of the person, the relative positions and orientations of the distributed contacting surfaces should be preserved as far as possible to maintain stable contact and not to graze the person's skin. Preserving the force and the pressure pattern of each contact region using tactile feedback is also important to provide stable and comfortable human-robot physical interaction. In this paper, we propose a whole-body contact manipulation method using tactile information to meet these requirements. Results of basic experiments are also shown.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 77 (782), 3794-3807, 2011
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390001206386661120
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- NII Article ID
- 130001433461
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- ISSN
- 18848354
- 03875024
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed