An approach to contact force vector determination and its implementation to provide intelligent tactile interaction with environment

Dzmitry Tsetserukou, Naoki Kawakami, Susumu Tachi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Citations (Scopus)

Abstract

The force vector information is essential while collision avoidance planning through tactile feedback in autonomous or teleoperation mode. In this paper, we concentrate on the approach to calculation of the applied force vector at any point of the robot arm and its technical realization. Based on the presented force vector calculation flow, we obtained the experimental results validating the ability of the proposed method to trace the contact point position and to estimate force vector robustly and accurately.

Original languageEnglish
Title of host publicationHaptics
Subtitle of host publicationPerception, Devices and Scenarios - 6th International Conference, EuroHaptics 2008, Proceedings
Pages151-156
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event6th International Conference on Haptics: Perception, Devices and Scenarios, EuroHaptics 2008 - Madrid, Spain
Duration: 10 Jun 200813 Jun 2008

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume5024 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference6th International Conference on Haptics: Perception, Devices and Scenarios, EuroHaptics 2008
Country/TerritorySpain
CityMadrid
Period10/06/0813/06/08

Keywords

  • Human-Robot interaction
  • sensitive robot arm

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