Whole-body contact manipulation using tactile information for the nursing-care assistant robot RIBA

Mukai,; Hirano,; Yoshida, Minoru; Nakashima,; Guo, Youguang; Hayakawa,

doi:10.1109/iros.2011.6048049

Cited by 11 publications

(6 citation statements)

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“…[21] Only few groups managed to bring wholebody tactile sensing to the application level. In [22,23], tactile sensors are utilized to control the contact between a human-like object and the arms of a nursing robot. The approach is currently limited to fine manipulation around an initial contact state.…”

Section: Related Workmentioning

confidence: 99%

Realizing whole-body tactile interactions with a self-organizing, multi-modal artificial skin on a humanoid robot

Yoshida²,

2015

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In this paper, we present a new approach to realize whole-body tactile interactions with a self-organizing, multi-modal artificial skin on a humanoid robot. We, therefore, equipped the whole upper body of the humanoid HRP-2 with various patches of CellulARSkin -a modular artificial skin. In order to automatically handle a potentially high number of tactile sensor cells and motors units, the robot uses open-loop exploration motions, and distributed accelerometers in the artificial skin cells, to acquire its self-centered sensory-motor knowledge. This body self-knowledge is then utilized to transfer multi-modal tactile stimulations into reactive body motions. Tactile events provide feedback on changes of contact on the whole-body surface. We demonstrate the feasibility of our approach on a humanoid, here HRP-2, grasping large and unknown objects only via tactile feedback. Kinesthetically taught grasping trajectories, are reactively adapted to the size and stiffness of different test objects. Our paper contributes the first realization of a self-organizing tactile sensor-behavior mapping on a full-sized humanoid robot, enabling a position controlled robot to compliantly handle objects.

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Section: Related Workmentioning

confidence: 99%

Realizing whole-body tactile interactions with a self-organizing, multi-modal artificial skin on a humanoid robot

Yoshida²,

2015

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“…for the tactile sensor in contact with the upper body , probability for many numerical guesses (estimation particles) must be calculated based on the training data (1) and then the estimated angle for this will be the expectation of these particles (2). Trivially, the estimation accuracy improves with the number of particles, while at the same time, the computation time dramatically increases:…”

Section: Estimation Algorithmmentioning

confidence: 99%

“…In order to contribute in a more convenient and efficient transfer of mobility week or impaired patients, while reducing the nursing burden and its associated costs, a nursing-care assistant robot with two human-like arms has been developed in our research center [1,2] for transferring patients between bed and wheelchair (Fig. 1).…”

Section: Introductionmentioning

confidence: 99%

4-D body posture in sagittal plane for care-receiver patient can be estimated by using only two low-reolution tactile sensors mounted on robot arms

Honarvar

Suzuki

Sato

et al. 2014

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)

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In order to contribute in a more convenient transfer of the mobility impaired patients for both patients and caregivers, a two-armed nursing-care assistant robot for transferring patients between bed and wheelchair has been developed in our center. For the safety of movement it is essential for the robot to have an accurate perception of how the patient is located on its arms, from the beginning of the lift up till the end of put down. This study is a contribution in accuracy of the posture estimation, given very limited sensor information. We have developed a flexible model-free method for real-time estimation of the care-receiver's posture by this robot. This algorithm uses no sensor but a pair of soft low-resolution tactile sensors installed on the robot's forearms. The performance of this algorithm is evaluated by experiment, showing good accuracy (average and root mean squared error of about 0.4 and 2.4 degrees, respectively) as well as acceptable real-time computation time with respect to the robot control cycle (less than 10 milliseconds).

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“…The use of the human type arms method is the most advantageous one for such task. An example is the robot developed by RIKEN-TRI collaboration center, RIBA, which uses its whole arms in human transfer, [2]. In such application the goal is to manipulate a multi-link heavy object using whole arm manipulation.…”

Section: Introductionmentioning

confidence: 99%

Study of the friction effect on the stability of a three-rigid link object manipulated by two cooperative robot arms

Mehrez

Zyada

Hayakawa

et al. 2014

2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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This work presents a study of the frictional effect on the stability of a three-rigid link object manipulated by two cooperative robot arms in a plane. It is supposed that the threerigid link object interacts with the two robot arms at multi contact points to perform the nonprehensile manipulation of the object. The object is figured out in a way such that one of the arms is in contact with two links of the object, while the other arm is free to slide along the third link. The effect of changing frictional forces at the contact points as well as their directions on the stability of the manipulated object is to be explored by defining the system constraints. A definition of what is called the "Stability Margin" is obtained. For the same orientation of the object links, the Stability Margin is a region of equilibrium contact points between the sliding arm and the corresponding object link where the robot arm could be placed in without dropping the object. Later, an experimental system consisting of a three-rigid link object and a two planar robot arms manipulation system is equipped to verify the concept.

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Whole-body contact manipulation using tactile information for the nursing-care assistant robot RIBA

Cited by 11 publications

References 0 publications

Realizing whole-body tactile interactions with a self-organizing, multi-modal artificial skin on a humanoid robot

Realizing whole-body tactile interactions with a self-organizing, multi-modal artificial skin on a humanoid robot

4-D body posture in sagittal plane for care-receiver patient can be estimated by using only two low-reolution tactile sensors mounted on robot arms

Study of the friction effect on the stability of a three-rigid link object manipulated by two cooperative robot arms

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