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.
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Khan, S.G., Lenz, A., Herrmann, G., Pipe, T., Melhuish, C. (2011). Toward Safe Human Robot Interaction: Integration of Compliance Control, an Anthropomorphic Hand and Verbal Communication. In: Li, TH.S., et al. Next Wave in Robotics. FIRA 2011. Communications in Computer and Information Science, vol 212. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23147-6_3
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DOI: https://doi.org/10.1007/978-3-642-23147-6_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-23146-9
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