Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human–Robot Interaction
Recent developments in robotics have enabled humanoid robots to be used in tasks where they have to physically interact with humans, including robot-supported caregiving. This interaction—referred to as physical human–robot interaction (pHRI)—requires physical contact between the robot and the human...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-05-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/23/9/4569 |
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| author | Sélim Chefchaouni Moussaoui Rafael Cisneros-Limón Hiroshi Kaminaga Mehdi Benallegue Taiki Nobeshima Shusuke Kanazawa Fumio Kanehiro |
| author_facet | Sélim Chefchaouni Moussaoui Rafael Cisneros-Limón Hiroshi Kaminaga Mehdi Benallegue Taiki Nobeshima Shusuke Kanazawa Fumio Kanehiro |
| author_sort | Sélim Chefchaouni Moussaoui |
| collection | DOAJ |
| description | Recent developments in robotics have enabled humanoid robots to be used in tasks where they have to physically interact with humans, including robot-supported caregiving. This interaction—referred to as physical human–robot interaction (pHRI)—requires physical contact between the robot and the human body; one way to improve this is to use efficient sensing methods for the physical contact. In this paper, we use a flexible tactile sensing array and integrate it as a tactile skin for the humanoid robot HRP-4C. As the sensor can take any shape due to its flexible property, a particular focus is given on its spatial calibration, i.e., the determination of the locations of the sensor cells and their normals when attached to the robot. For this purpose, a novel method of spatial calibration using B-spline surfaces has been developed. We demonstrate with two methods that this calibration method gives a good approximation of the sensor position and show that our flexible tactile sensor can be fully integrated on a robot and used as input for robot control tasks. These contributions are a first step toward the use of flexible tactile sensors in pHRI applications. |
| first_indexed | 2024-03-11T04:06:20Z |
| format | Article |
| id | doaj.art-e0d942c08aed4e05a48f66c76c40de2e |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-11T04:06:20Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-e0d942c08aed4e05a48f66c76c40de2e2023-11-17T23:46:16ZengMDPI AGSensors1424-82202023-05-01239456910.3390/s23094569Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human–Robot InteractionSélim Chefchaouni Moussaoui0Rafael Cisneros-Limón1Hiroshi Kaminaga2Mehdi Benallegue3Taiki Nobeshima4Shusuke Kanazawa5Fumio Kanehiro6National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba 305-8560, JapanNational Institute of Advanced Industrial Science and Technology (AIST), Tsukuba 305-8560, JapanNational Institute of Advanced Industrial Science and Technology (AIST), Tsukuba 305-8560, JapanNational Institute of Advanced Industrial Science and Technology (AIST), Tsukuba 305-8560, JapanNational Institute of Advanced Industrial Science and Technology (AIST), Tsukuba 305-8560, JapanNational Institute of Advanced Industrial Science and Technology (AIST), Tsukuba 305-8560, JapanNational Institute of Advanced Industrial Science and Technology (AIST), Tsukuba 305-8560, JapanRecent developments in robotics have enabled humanoid robots to be used in tasks where they have to physically interact with humans, including robot-supported caregiving. This interaction—referred to as physical human–robot interaction (pHRI)—requires physical contact between the robot and the human body; one way to improve this is to use efficient sensing methods for the physical contact. In this paper, we use a flexible tactile sensing array and integrate it as a tactile skin for the humanoid robot HRP-4C. As the sensor can take any shape due to its flexible property, a particular focus is given on its spatial calibration, i.e., the determination of the locations of the sensor cells and their normals when attached to the robot. For this purpose, a novel method of spatial calibration using B-spline surfaces has been developed. We demonstrate with two methods that this calibration method gives a good approximation of the sensor position and show that our flexible tactile sensor can be fully integrated on a robot and used as input for robot control tasks. These contributions are a first step toward the use of flexible tactile sensors in pHRI applications.https://www.mdpi.com/1424-8220/23/9/4569tactile sensingflexible sensorssensor calibrationsurface fittingphysical human–robot interactionsensor integration |
| spellingShingle | Sélim Chefchaouni Moussaoui Rafael Cisneros-Limón Hiroshi Kaminaga Mehdi Benallegue Taiki Nobeshima Shusuke Kanazawa Fumio Kanehiro Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human–Robot Interaction Sensors tactile sensing flexible sensors sensor calibration surface fitting physical human–robot interaction sensor integration |
| title | Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human–Robot Interaction |
| title_full | Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human–Robot Interaction |
| title_fullStr | Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human–Robot Interaction |
| title_full_unstemmed | Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human–Robot Interaction |
| title_short | Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human–Robot Interaction |
| title_sort | spatial calibration of humanoid robot flexible tactile skin for human robot interaction |
| topic | tactile sensing flexible sensors sensor calibration surface fitting physical human–robot interaction sensor integration |
| url | https://www.mdpi.com/1424-8220/23/9/4569 |
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