Reliable object handover through tactile force sensing and effort control in the Shadow Robot hand

Augusto Gomez-Eguiluz, Ignacio Rano, Sonya Coleman, T.Martin McGinnity

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abstract

A fundamental problem in cooperative Human-Robot Interaction is object handover. Existing works in this area assume the human can reliably grasp the object from the robot hand. However, in some situations the human can produce perturbing forces in the object that are not meant to end in a handover. These perturbations can result in the object being dropped or the robot hand being damaged. This paper addresses this problem and presents a mechanism for reliable robot to human object handover implemented in a Shadow Robot hand endowed with tactile sensing. Given a stable grasping configuration, using BioTAC sensors we are able to estimate the contact forces applied to the object, and provide a feedback signal to a joint effort controller to maintain grasp forces despite perturbations. Our system is able to identify between object pulling forces which should result in an object handover, and other disturbances. Experimental results show that the hand releases the object only when the object is pulled, validating the proposed algorithm.
Original languageEnglish
Title of host publicationUnknown Host Publication
PublisherIEEE
Number of pages6
Publication statusAccepted/In press - 15 Jan 2017
EventIEEE International Conference on Robotics and Automation - Singapore
Duration: 15 Jan 2017 → …

Conference

ConferenceIEEE International Conference on Robotics and Automation
Period15/01/17 → …

Keywords

  • Robotics
  • Human-Robot interaction
  • Force sensing
  • Effort control

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