Toward Safe Human Robot Interaction: Integration of Compliant Control, An Anthropomorphic Hand and Verbal Communication

SG Khan, A Lenz, G Herrmann, AG Pipe, CR Melhuish

Research output: Chapter in Book/Report/Conference proceedingChapter in a book

Abstract

In this paper an integrated system for human robot interaction is presented. It is demonstrated that safety features in human robot interaction can be engineered by combining a robotic arm, equipped with a compliant controller, an anthropomorphic robot hand and a spoken language communication system. A simplified human-robot interaction scenario, based on a typical care robot situation, is exploited to show that safety can be enhanced by the monitoring of torques and motor currents to establish contact with the environment. Furthermore, spoken language is utilised to resolve potentially dangerous contact situations.
Translated title of the contributionToward Safe Human Robot Interaction: Integration of Compliant Control, An Anthropomorphic Hand and Verbal Communication
Original languageEnglish
Title of host publicationNext Wave in Robotics
Subtitle of host publication14th FIRA RoboWorld Congress, FIRA 2011, Kaohsiung, Taiwan, August 26-30, 2011. Proceedings
EditorsT.H. Li, K.Y. Tu, C.C. Tsai, C.C. Hsu, C.C. Tseng, P. Vadakkepat, J. Baltes, J. Anderson, C.C. Wong, N. Jesse, C.H. Kuo, H.-C. Yang
PublisherSpringer Berlin Heidelberg
Pages17 - 24
Number of pages8
ISBN (Print)9783642231469
Publication statusPublished - 2011

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