Hostname: page-component-cd9895bd7-mkpzs Total loading time: 0 Render date: 2024-12-23T19:53:59.440Z Has data issue: false hasContentIssue false
  • English
  • Français

Human-robot interaction detection: a wrist and base force/torque sensors approach

Published online by Cambridge University Press:  28 February 2006

Shujun Lu ,
Jae H. Chung  and
Stevens A. Velinsky
Shujun Lu
Affiliation:
Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ 07030 (USA). E-mail: [email protected], [email protected]
Jae H. Chung
Affiliation:
Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ 07030 (USA). E-mail: [email protected], [email protected]
Stevens A. Velinsky
Affiliation:
Department of Mechanical and Aeronautical Engineering, University of California at Davis, Davis, CA 95616 (USA). E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Abstract

In this paper, a collision detection and identification method of a manipulator, using wrist and base force/torque sensors, is presented. An impact model is used to simulate the interaction between the manipulator and the human or environment. A neural network approach and a model based method are developed to detect the collision forces and disturbance torques on the joints of the manipulator. The experimental results illustrate the validity of the developed collision detection and identification scheme.

Keywords

CollisionDetectionIdentificationBase and wrist force/torque sensorHumanManipulator
Type
Article
Information
Robotica , Volume 24 , Issue 4 , July 2006 , pp. 419 - 427
Copyright
2006 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)