Physical human-robot interaction with a mobile manipulator through pressure sensitive robot skin

Abstract

In this paper we discuss a physical human-robot interaction system, resulting from the integration of existing open source robotics tools, sensor elements and a robotic mobile manipulator platform. A KUKA youBot ® mobile manipulator was sensorized using 7 FlexiForce® piezo-resistive sensors, attached to the surface of the manipulator arm. ROS transfers frame and Kinematics libraries transferred interaction pushing forces measured by the sensors to velocity commands to the robot. These results transformations were verified using a derived Denavit-Hartenberg table. Resulting robot movement is always parallel to the axis of detected forces, regardless of orientation of the sensors relative to the mobile manipulator's base, or the number of sensors detecting forces. Verification of this behavior was conducted during two separate experiments. This system and behavior will be used in future physical human-robot interaction research to perform assistive tasks.