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A Tactile Matrix for Whole-Body Humanoid Haptic Sensing and Safe Interaction

Abderrahmane Kheddar 1, 2 Aude Billard 3
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 LASA: Learning Algorithms and Systems Laboratory
EPFL - Ecole Polytechnique Fédérale de Lausanne
Abstract : We propose a solution for whole-body humanoid haptic sensing and safe interaction that is based on combining layered three-level modules. The inner module (closest to the link) consists in a bumper attached to the link through few force pressure units mounted in a way to measure the external wrench acting on the link. The second module, covering the bumper, consists of a thin matrix of different pressure tactile units, which main role is to detect contact locations and secondarily contact pressure distributions. The third module, covering the previous one, being a compliant foam which main role is to ensure safe interaction and robust contact formation. This paper focuses on the tactile matrix concept and its realization, the obtained results are reported.
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Abderrahmane Kheddar, Aude Billard. A Tactile Matrix for Whole-Body Humanoid Haptic Sensing and Safe Interaction. ROBIO'11: International Conference on Robotics and Biomimetics, Dec 2011, Phuket Island, Thailand. pp.1433-1438, ⟨10.1109/ROBIO.2011.6181491⟩. ⟨lirmm-00781537⟩



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