Environment Recognition for Human Support Robot Based on Haptic Sensation

• Project/Area Number: 24560539
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Control engineering
• Research Institution: Saitama University
• Principal Investigator: TSUJI Toshiaki 埼玉大学, 理工学研究科, 准教授 (60434031)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Project Status: Completed (Fiscal Year 2014)
• Budget Amount: ¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000); Fiscal Year 2014: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000); Fiscal Year 2013: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000); Fiscal Year 2012: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
• Keywords: 人間支援ロボット / 触覚 / 力覚 / 力覚信号処理 / 信号処理 / ハプティクス / 力制御 / 触覚インタフェース / 触覚信号処理

Outline of Final Research Achievements

This project proposed a signal processing technique for human-support systems based on force sensors. The technique enables the extraction of the contact information between human and machines. As an example of application, a desk with tactile sensation has been developed and used as a prototype for examining the performance of signal processing. Through the examination, it has been shown that the technique extracts many kinds of information from a limited number of force sensing device.

Research Products

• [Journal Article] Whole-Body Haptics of Non-Convex-Shaped End-Effector Based on Variation in External Force Vector during Contact (2014)
  • Author(s): 栗田直幸，境野翔，辻俊明
  • Journal Title: IEEJ Transactions on Industry Applications Volume: 134 Issue: 5 Pages: 517-525
  • DOI: 10.1541/ieejias.134.517
  • NAID: 130004446624
  • ISSN: 0913-6339, 1348-8163
  • Peer Reviewed
• [Journal Article] Whole-body tactile sensing through a force sensor using soft materials in contact areas (2014)
  • Author(s): T. Tsuji, N. Kuritao, S. Sakaino
  • Journal Title: ROBOMECH Journal Volume: 1:11 Issue: 1 Pages: 1-11
  • DOI: 10.1186/s40648-014-0011-x
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Whole-Body Force Sensation by Force Sensor with End-Effector of Arbitary Shape (2012)
  • Author(s): N. Kurita, S. Sakaino, T. Tsuji
  • Journal Title: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2012) Volume: 1 Pages: 5428-5433
  • Peer Reviewed
• [Presentation] Haptic Signal Processing of a Desk-Type Interface Using Force Sensors (2015)
  • Author(s): T. Tsuji, S. Sakaino
  • Organizer: The 1st IEEJ Int. Workshop on Sensing, Actuation, and Motion Control
  • Place of Presentation: 名古屋工業大学（名古屋市）
  • Year and Date: 2015-03-10 – 2015-03-11
  • Invited
• [Presentation] A Mounting Foot Type Force Sensing Device for a Desk with Haptic Sensing Capability (2014)
  • Author(s): Toshiaki Tsuji, Tatsuki Seki, Sho Sakaino
  • Organizer: Asia Haptics
  • Place of Presentation: つくば国際会議場(つくば市)
  • Year and Date: 2014-11-17 – 2014-11-19
• [Presentation] Development of a Desk-Type Tactile Interface Using Force Sensors (2014)
  • Author(s): T. Tsuji, N. Kurita, S. Sakaino
  • Organizer: Proc. The 40th Int. Conf. on Industrial Electronics. Control and Instrumentation(IECON’14）
  • Place of Presentation: シェラトンホテル（米国ダラス市)
  • Year and Date: 2014-10-29 – 2014-11-01
• [Presentation] 力覚情報の微分値に基づく個人認証システム (2014)
  • Author(s): 關 樹,栗田直幸,境野 翔,辻 俊明
  • Organizer: 電気学会 産業計測制御/メカトロニクス制御合同研究会
  • Place of Presentation: 東京(芝浦工業大学田町校舎)
• [Presentation] Simplified Whole-Body Tactile Sensing System Using Soft Material at Contact Areas (2013)
  • Author(s): N. Kurita, H. Hasunuma, S. Sakaino, T. Tsuji
  • Organizer: The 39th Annual Conference of the IEEE Industrial Electronics Society (IECON2013)
  • Place of Presentation: ウイーン(Austria Center Vienna)
• [Presentation] 多様な形状に応用可能な力覚センサを用いた触覚技術の開発 (2013)
  • Author(s): 蓮沼裕喜,栗田直幸,境野 翔,辻 俊明
  • Organizer: 電気学会産業計測制御研究会, IIC-13-146
  • Place of Presentation: 千葉大学
• [Presentation] 線接触を伴う道具を使用するロボットのハイブリッド制御 (2012)
  • Author(s): 松崎亮平,上林 誠,境野 翔,辻 俊明
  • Organizer: 電気学会産業応用部門大会
  • Place of Presentation: 千葉工業大学
• [Remarks] 辻研究室研究内容
  • URL: http://robotics.ees.saitama-u.ac.jp/research.html