人間共存ロボットの觝触適応行動第14 報：関節可動部における触覚インタフェース

摘要

In this paper, we propose a method of designing a robotic tactile arm that can sense physicalinterferences and contacts not only at links but also at joint parts such as elbow. It is incorporated that the elbowgets into the adjoining covers according to change of elbow posture. Thereby, since no interferenceamong the covers occurs in any arm posture, tactile perception of the elbow part can be realized even whenthe elbow flexes at right angles. Finally, from experiments, we confirmed the effectiveness of the proposeddesign method for elevating human-robot symbiosis.