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Combining haptic sensing with safe physical interaction

Abstract : We propose a solution which combines haptic sensing with safe interaction, at low cost. Contact locations are made through a flexible sheet of tactile binary switch matrix. This sheet covers the surface of a rigid bumper module assembled to the robot's basic link through a distributed pressure sensing units. Combination of location and force provides the haptic sensing module. The haptic system is covered with a flexible outer material which role is to absorb contact impacts and to cast local surface profile on which the robot can take support. This overall system allows having a combined haptic sensing with safe and robust physical interaction with both the environment and the human using active compliance. We discuss the benefit of such a simple and modular concept and present how to design the cover material. A simple prototype is realized and experienced.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00796360
Contributor : François Keith <>
Submitted on : Sunday, March 3, 2013 - 11:26:34 PM
Last modification on : Tuesday, June 18, 2019 - 12:06:37 PM

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Martin Battaglia, Laurent Blanchet, Abderrahmane Kheddar, Shuuji Kajita, Yokoi Kazuhito. Combining haptic sensing with safe physical interaction. IROS'09: International Conference on Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.231-236, ⟨10.1109/IROS.2009.5354141⟩. ⟨lirmm-00796360⟩

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