Abstract
This paper proposes a method for visualizing the stiffness of a soft object in a palpation-support information system by the teleoperation of a robot hand. It is important that a palpation system display a body’s shape and stiffness. In our method, the stiffness of the contact area between the soft object and the robot finger is estimated by a recursive least-squares method with forgetting factor that uses an impedance dynamics model. With the estimated stiffness and direction of contact force, we calculate the scalar parameter for visualization of stiffness. Moreover, we propose a safety control method for the palpation system, which is part of a tele-control method based on will-consensus building. The system configuration, estimated algorithm, and experimental results are presented.
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Acknowledgements
This paper was supported in part by SCOPE (No. 121806001), by the Ministry of Internal Affairs and Communications, and by a Grant-in-Aid for Scientific Research from JSPS, Japan ((A) No. 26249063). The authors would like to thank the members of our laboratory, and in particular, Mr. Yuta Fuji for his cooperation with the experiments.
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Ueki, S., Mouri, T., Endo, T. et al. Study on stiffness visualization and safety control based on will-consensus building for tele-palpation robot system. Artif Life Robotics 21, 31–36 (2016). https://doi.org/10.1007/s10015-015-0254-5
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DOI: https://doi.org/10.1007/s10015-015-0254-5