Abstract
When humans and robots implement a cooperative task, (intention) transfer between them is an important problem as the task becomes complicated. In the paper, a haptic interface using a pneumatic parallel manipulator is developed to realize information transfer by means of contact. The contact given by the human, namely contact force vector and contact point on the manipulator, is detected by the interface itself and such is transferred to the robot by being connected with some reference signal. The pneumatic parallel manipulator works as a kind of elastic body even when its position is controlled owing to the air compressibility. Focusing on this characteristic and introducing an idea of compliance center with a spherical shell, contact force vector and contact point are detected without a force sensor. The validity of the proposed method is confirmed through some experiments.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
