Abstract
Usually, traditional haptic interfaces, such as Virtuose 6DOF [1], are used in the design phases by engineers [2]. Such interfaces are safe. However, the user can apply a force/torque but cannot really feel textures and appreciate material quality. These interfaces have a limited workspace, low stiffness and are very expensive. New haptic interfaces using an industrial robots or a cobot (robots specially designed to work in Human-Robot environments) can be used as a haptic interface with intermittent contacts [3, 4]. For application considered in this paper, the cobot carries several specimens of texture on its end-effector, to allow contact between a finger of the user and the robot.
Safety is an important aspect in Human Robot Interactions (HRI) [5], even with the use of cobots, because contacts are expected. The purpose of this paper is to introduce a new methodology to define the basic placement of the robot in relation to the human body and for the planning and control of movements during HRIs to ensure safety.
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Acknowledgement
This work was funded under the LobbyBot project, ANR-17-CE33 [21]. The authors of the article thank the members of the project for their help in carrying out this work, Lionel Dominjon, Sandrine Wullens, Allexandre Bouchet, Javier Posselt, Maud Marchal, Anatol Lecuyer and Victor Rodrigo Mercado Garcia.
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Guda, V.K., Chablat, D., Chevallereau, C. (2020). Safety in a Human Robot Interactive: Application to Haptic Perception. In: Chen, J.Y.C., Fragomeni, G. (eds) Virtual, Augmented and Mixed Reality. Design and Interaction. HCII 2020. Lecture Notes in Computer Science(), vol 12190. Springer, Cham. https://doi.org/10.1007/978-3-030-49695-1_38
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