Learning Centre

Physical Human-Robot Collaboration using Tactile Information

 |  Login

Show simple item record

dc.contributor Aalto-yliopisto fi
dc.contributor Aalto University en
dc.contributor.advisor Muthusamy, Rajkumar
dc.contributor.author Indave Sotillos, José
dc.date.accessioned 2016-08-26T09:01:08Z
dc.date.available 2016-08-26T09:01:08Z
dc.date.issued 2016-08-24
dc.identifier.uri https://aaltodoc.aalto.fi/handle/123456789/21568
dc.description.abstract The aim of the robotics has been, since its beginning, the search of different approaches for supporting humans in complex tasks. Physical human-robot interaction has recently become an indispensable research topic within robotics. Physical Human-Robot Interaction (pHRI) suppose also an important technological advancement by combining improvements in the hardware design of the manipulators and the design of more robust controllers for ensure the safety during the interaction. Assistance using pHRI has been developed usually with force based controllers that generate a motion from the force measurements. The precise intention of the human is difficult to estimate due to the use of generic sensors that are not able to distinguish between external and internal forces of the system. The present thesis shows the development of a robotic controller that assists in a physical human robot interaction. The work is based in the definition of a dexterous system formed by a robot manipulator and a robotic multifingered hand. The main contribution of this set up comes from the use of the multifingered hand which, by using the tactile information collected, permits to differentiate in a more precise way the humans intention behind them. The robot manipulator used is the KUKA LWR4+, a lightweight edundant robotic system used primary in research and development. Furthermore, the multifingered robotic hand chosen provides tactile sensors along both the fingers and the palm. Nowadays, as robotics is present in many different tasks, the use of a flexible griper like the Barrett hand is essential not only for the tactile information itself but also for allowing the grasping of objects with different morphologies. The structure of the thesis starts with an explanatory section of the hardware used and the way it can be controlled. Afterwards, the chapters focus on the practical work follows, initially with experimental interactions between a human user and the manipulator. Consequently, different assistance approaches are analysed on the KUKA robot. Subsequently, the Barrett hand control is described and the tactile information is processed in order to transmit the humans intention. Finally, the implementation and development of a collaborative system is elaborated. en
dc.format.extent 94
dc.language.iso en en
dc.title Physical Human-Robot Collaboration using Tactile Information en
dc.contributor.school Sähkötekniikan korkeakoulu fi
dc.subject.keyword assistance en
dc.subject.keyword pHRI en
dc.subject.keyword KUKA en
dc.subject.keyword barrett hand en
dc.subject.keyword tactile information en
dc.subject.keyword admittance controller en
dc.identifier.urn URN:NBN:fi:aalto-201608263027
dc.programme.major Electrical Systems fi
dc.programme.mcode S3015 fi
dc.contributor.supervisor Kyrki, Ville
dc.programme EST - Master’s Programme in Electrical Engineering (TS2005) fi
dc.location P1 fi
local.aalto.openaccess no
dc.rights.accesslevel closedAccess
local.aalto.idinssi 54226


Files in this item

Files Size Format View

There are no open access files associated with this item.

This item appears in the following Collection(s)

Show simple item record

Search archive


Advanced Search

article-iconSubmit a publication

Browse

Statistics