Physical Human-Robot Interaction (pHRI) is essential for robots that establish contact with humans, like assistive or rescue robots. pHRI demands hard safety and compliance constraints. Tactile sensing is vital for pHRI, as vision and/or range sensors alone can not cope with constant occlusions while grasping. Measuring pressure on the grasping surface is crucial to avoid injury, predict user intent and successfully perform collaborative movements. This work presents a new three-fingered gripper equipped with novel tactile sense capability via arrays of finger pressure sensors. Experiments gripping a human arm on the distal and proximal surfaces of the gripper fingers have been performed to assess sensing performance in the normal and tangential components. Results prove that a good estimation of interaction between human and robot is achieved in both normal and tangential movements.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    pHRI Gripper with Pressure Sensing


    Additional title:

    Lect. Notes in Networks, Syst.



    Conference:

    Iberian Robotics conference ; 2023 ; Coimbra, Portugal November 22, 2023 - November 24, 2023



    Publication date :

    2024-04-27


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    pHRI Gripper with Pressure Sensing

    Lara, Francisco / Castellanos-Ramos, Julián / Trujillo-León, Andrés et al. | TIBKAT | 2024


    Optimization and Fail-Safety Analysis of Antagonistic Actuation for pHRI

    Boccadamo, Gianluca / Schiavi, Riccardo / Sen, Soumen et al. | Springer Verlag | 2006


    TRANSMISSION MODULE, GRIPPER MODULE WITH TRANSMISSION MODULE AND GRIPPER DEVICE WITH GRIPPER MODULE

    LEEMANN JOAS / LATZER CHRISTOPH | European Patent Office | 2020

    Free access

    Transmission module, gripper module with transmission module and gripper device with gripper module

    LEEMANN JOAS / LATZER CHRISTOPH | European Patent Office | 2021

    Free access

    Gripper

    KRÄMER GEORG / MEIER-HYNEK KONRAD / NEHR LOTHAR | European Patent Office | 2016

    Free access