Delivery by hand between human and robot based on fingertip force-torque information

摘要

Presents a delivery by hand between a multifingered hand and a human based on force-torque sensing. Of all cooperated tasks between humans and robots, the most important and basic factor is delivery of objects by hand. To insure positive delivery, the robot should open its hand only after making sure that the object has been received by the human. The human releases the object only after confirming that the robot can actually grasp the object stably. The features of the hand-delivery system introduced in the paper include that (1) the robot recognizes successful transfer of the object to a human when the human changes the grasping condition, (2) the human guides the position and orientation of the grasped object to a stable grasp, and (3) the robot, in response to the above guide, regrasps the object to realize a stable grasping condition. The paper introduces evaluation for stable grasp, and presents a new technique for sensor based regrasp manipulation and delivery by hand between a human and robot based on force-torque sensing which reflects the result of stability evaluation. Finally, experimental results are shown to demonstrate the effectiveness of the proposed scheme.