TY - JOUR
T1 - Bilaterally shared haptic perception for human-robot collaboration in grasping operation
AU - Tanaka, Yoshihiro
AU - Shiraki, Shogo
AU - Katayama, Kazuki
AU - Minamizawa, Kouta
AU - Prattichizzo, Domenico
N1 - Funding Information:
This work was supported by JST Moonshot R&D, JPMJMS2013.
Publisher Copyright:
© Fuji Technology Press Ltd.
PY - 2021/10
Y1 - 2021/10
N2 - Tactile sensations are crucial for achieving precise operations. A haptic connection between a human operator and a robot has the potential to promote smooth human-robot collaboration (HRC). In this study, we assemble a bilaterally shared haptic system for grasping operations, such as both hands of humans using a bottle cap-opening task. A robot arm controls the grasping force according to the tactile information from the human that opens the cap with a fingerattached acceleration sensor. Then, the grasping force of the robot arm is fed back to the human using a wearable squeezing display. Three experiments are conducted: measurement of the just noticeable difference in the tactile display, a collaborative task with different bottles under two conditions, with and without tactile feedback, including psychological evaluations using a questionnaire, and a collaborative task under an explicit strategy. The results obtained showed that the tactile feedback provided the confidence that the cooperative robot was adjusting its action and improved the stability of the task with the explicit strategy. The results indicate the effectiveness of the tactile feedback and the requirement for an explicit strategy of operators, providing insight into the design of an HRC with bilaterally shared haptic perception.
AB - Tactile sensations are crucial for achieving precise operations. A haptic connection between a human operator and a robot has the potential to promote smooth human-robot collaboration (HRC). In this study, we assemble a bilaterally shared haptic system for grasping operations, such as both hands of humans using a bottle cap-opening task. A robot arm controls the grasping force according to the tactile information from the human that opens the cap with a fingerattached acceleration sensor. Then, the grasping force of the robot arm is fed back to the human using a wearable squeezing display. Three experiments are conducted: measurement of the just noticeable difference in the tactile display, a collaborative task with different bottles under two conditions, with and without tactile feedback, including psychological evaluations using a questionnaire, and a collaborative task under an explicit strategy. The results obtained showed that the tactile feedback provided the confidence that the cooperative robot was adjusting its action and improved the stability of the task with the explicit strategy. The results indicate the effectiveness of the tactile feedback and the requirement for an explicit strategy of operators, providing insight into the design of an HRC with bilaterally shared haptic perception.
KW - Bilateral connection
KW - Haptics
KW - Human-robot collaboration
KW - Tactile sharing
KW - Wearable device
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U2 - 10.20965/jrm.2021.p1104
DO - 10.20965/jrm.2021.p1104
M3 - Article
AN - SCOPUS:85118538535
VL - 33
SP - 1104
EP - 1116
JO - Journal of Robotics and Mechatronics
JF - Journal of Robotics and Mechatronics
SN - 0915-3942
IS - 5
ER -