A physical interference adapting hardware system using MIA arm and humanoid surface covers

摘要

In this paper, a comprehensive new concept concerning situations where robots physically contact with human such as tactile contacts and collisions is proposed, which is named physical interference (PIF). In order to realize PIF adaptation with human, it is required for robots to recognize PIF with human as well as secure human safety. First, information of PIF with human for recognizing PIF in detail is specified. Next, a hybrid PIF adapting hardware system composed of a mechanical passive compliant arm and PIF recognizing covers with viscoelastic materials is proposed and was developed. Finally, in order to evaluate the hardware system, experiments of adapting to PIF with human, using an arm equipped with MIA (mechanical impedance adjuster) and the developed surface covers, were carried out. From the results of the evaluation experiments, the validity of the developed hardware system for basic PIF adaptation with human was confirmed.