Taktile Mensch-Maschine Interaktion

Abstract

Most service robots work in the same environment as humans. Therefor the robot must provide interaction channels to the human. This paper introduces a interaction via a tactile interface. Several kinds of tactile interactions between a user and the robot as well as interactions of the robot with the environment are presented. All interactions are implemented in a single paradigm: Forces measured from tactile sensors result into robot joint torques. We present results from our experimental setup, in the illustrated example, a human interacts with the robot using only the tactile interface.