Journal of Robotics and Mechatronics · 2003 · 55 citations · 0 references
EngineeringMechanical EngineeringRobotics EngineeringHuman-robot InteractionRoboticsSoft RoboticsForce ControlHuman-robot CommunicationPneumatic ActuationRobotic Hand DesignSoft Robot ControlSoft Robot DesignHaptic ControlHuman-robot Physical InteractionPhysical Human-robot Interaction SafetyPneumatic Robot DesignPneumatic Soft ActuatorsSafe Physical Human-robot InteractionSoft Pneumatic ActuatorsSoft Robotic Hands
When robots interact directly with humans, safety becomes a major consideration. The purpose of this study is to realize a safe humanlike robot hand for a human-friendly robot. The structure of the soft hand is described, its basic operation shown, and wipe motion for a human arm using this hand examined. Finally, a method of force communication task is proposed, which controls mutual communication based on the operating force between a robot and a human. This method is applied to their shaking hands.