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ROBOSKIN tactile skin for safe human-robot interaction with Care-O-bot 3

: Hammoudeh Garcia, Nadia; Jacobs, Theo; Reiser, Ulrich; Siee, Maik; Connette, Christian; Hägele, Martin; Verl, Alexander

Lobo, Jorge (Ed.); Corke, Peter (Ed.) ; Institute of Electrical and Electronics Engineers -IEEE-; Robotics Society of Japan -RSJ-:
IROS 2012 - Workshops and Tutorials : Celebrating 25 Years of IROS; Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, 7th-12th of October 2012
Piscataway, NJ, 2012
ISBN: 978-972-8822-26-2
3 pp.
International Conference on Intelligent Robots and Systems (IROS) <2012, Vilamoura>
Conference Paper
Fraunhofer IPA ()
Mensch-Roboter-Kooperation (MRK); Care-O-bot®; human - robot; Robot Human Interaction; ROBOSKIN; Serviceroboter; taktiler Sensor; Roboter; Sensor; Sicherheit

In order to bring manipulating service robots into applications which include direct interaction with humans, safety for the operator and the surrounding persons must be ensured at all time. While the movements of mobile platforms in 2D can be secured through safety certified 2D-Sensors, no sensors are currently available for manipulation in 3D. In the ROBOSKIN project, a tactile skin was developed which can be used as a safety sensor for 3D environments as well as for intuitive control of a manipulator by hand guiding. In the following paper, the applicability of ROBOSKIN as a safety device is discussed and an evaluation conducted on the manipulating service robot Care-O-bot 3 is described.