@INPROCEEDINGS{5354141,
author={Battaglia, M. and Blanchet, L. and Kheddar, A. and Kajita, S. and Yokoi, K.},
booktitle={Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference},
title={Combining haptic sensing with safe interaction},
year={2009},
month={oct.},
volume={},
number={},
pages={231 -236},
abstract={We propose a solution which combines haptic sensing with safe interaction, at low cost. Contact locations are made through a flexible sheet of tactile binary switch matrix. This sheet covers the surface of a rigid bumper module assembled to the robot's basic link through a distributed pressure sensing units. Combination of location and force provides the haptic sensing module. The haptic system is covered with a flexible outer material which role is to absorb contact impacts and to cast local surface profile on which the robot can take support. This overall system allows having a combined haptic sensing with safe and robust physical interaction with both the environment and the human using active compliance. We discuss the benefit of such a simple and modular concept and present how to design the cover material. A simple prototype is realized and experienced.},
keywords={contact impacts;flexible outer material;flexible sheet;haptic sensing;robot;robust physical interaction;safe interaction;surface profile;tactile binary switch matrix;haptic interfaces;medical robotics;sensors;},
doi={10.1109/IROS.2009.5354141},
ISSN={},}