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

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.
LanguageEnglish
Title of host publicationUnknown Host Publication
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 → …

Fingerprint

End effectors
Robots
Human robot interaction
Feedback
Controllers
Sensors

Keywords

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

Cite this

@inproceedings{399fef8218a74b6d8b810472df87b324,
title = "Reliable object handover through tactile force sensing and effort control in the Shadow Robot hand",
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.",
keywords = "Robotics, Human-Robot interaction, Force sensing, Effort control",
author = "Augusto Gomez-Eguiluz and Ignacio Rano and Sonya Coleman and T.Martin McGinnity",
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}

Gomez-Eguiluz, A, Rano, I, Coleman, S & McGinnity, TM 2017, Reliable object handover through tactile force sensing and effort control in the Shadow Robot hand. in Unknown Host Publication. IEEE International Conference on Robotics and Automation, 15/01/17.

Reliable object handover through tactile force sensing and effort control in the Shadow Robot hand. / Gomez-Eguiluz, Augusto; Rano, Ignacio; Coleman, Sonya; McGinnity, T.Martin.

Unknown Host Publication. 2017.

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

TY - GEN

T1 - Reliable object handover through tactile force sensing and effort control in the Shadow Robot hand

AU - Gomez-Eguiluz, Augusto

AU - Rano, Ignacio

AU - Coleman, Sonya

AU - McGinnity, T.Martin

PY - 2017/1/15

Y1 - 2017/1/15

N2 - 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.

AB - 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.

KW - Robotics

KW - Human-Robot interaction

KW - Force sensing

KW - Effort control

M3 - Conference contribution

BT - Unknown Host Publication

ER -