Improving physical human-robot interaction through viscoelastic soft fingertips

Abstract

In this paper, we are interested in a scheme that proves effective use of soft fingertips for human-in-the-loop telemanipulation. Motion planning is carried out by the human-in-the-loop to grasp and manipulate an object using viscoelastic soft fingertips. In addition, to grasp an object firmly, an estimated torque is synthesized based on fuzzy inference… (More)
DOI: 10.1109/IROS.2012.6386054

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