Human-Robot Interaction and Collaborative Manipulation with Multimodal Perception Interface for Human

摘要

In this study, human-robot interaction with multimodal perception interface combining human visual and haptic perception is introduced. In the proposed human-robot collaboration method, cognitive capabilities of human and accurate motion control capabilities of robot are integrated based on a coarse-to-fine strategy. Human operator is designated for coarse global motion under feedback interfaces utilizing human visual as well as haptic modalities. Simultaneously, fine local motion in an active manner without involving human intention-aware is realized by a robotic module with high-speed actuators and high-speed sensory feedback. Experiments demonstrated the effectiveness of the proposed method.