Human Assist by a Mobile Manipulator with High Speed Tactile Sensor
As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize a safe assist by real time feedback control based on the information from a high speed tactile sensor for detecting the force and its center between the assisted people and robot arm. This paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system and the control methods about basic movement necessary for stand-up movement support according to the tactile information.
Elderly people Human assist Stand-up High speed tactile sensor Mobile manipulator
Hisashi Yamaguchi Zhaoxian Xie Aiguo Ming Makoto Shimojo
Dept. of Mechanical Engineering and Intelligent Systems The University of Electro-Communications1-5- Dept. of Mechanical Engineering and Intelligent Systems The University of Electro-Communications 1-5
国际会议
2010 IEEE信息与自动化国际会议(ICIA 2010)
哈尔滨
英文
1-6
2010-06-20（万方平台首次上网日期，不代表论文的发表时间）