Towards a new approach of haptic human-robot interaction for collaborative manipulation
نویسندگان
چکیده
This work presents a new approach of haptic human-robot interaction for joint manipulation of large objects. As a shared manipulation strategy, we propose to decompose any task in different non-honolomic motions (rotations and translations). The intention of the next non-honolomic motion is detected by analysing haptic cues. An experiment with ten subjects is realised to compare this proposed approach with a backdrivable robot interaction. Results show the efficiency of the new approach to realize a task involving rotations and translations. The task is performed faster and lower torque is applied by the operator.
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تاریخ انتشار 2012