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Development of a skin for intuitive interaction with an assistive robot
Heather C Markham1, Bambi R Brewer
1Department of Rehabilitation Science and Technology, University of Pittsburgh, Pittsburgh, PA 15260, USA. hcm4@pitt.edu
Summary
Researchers developed a novel robot skin that enhances safety for individuals with physical limitations. This intuitive touch-activated skin controls robot arm compliance, allowing safe movement and secure positioning.
Area of Science:
- Robotics
- Human-Robot Interaction
- Assistive Technology
Background:
- Assistive robots for individuals with physical limitations require safe human-robot interaction.
- Previous research focused on task-specific robots and various interfaces for robot arms like the MANUS ARM.
- Intuitive interaction with robotic systems is crucial for user adoption and effectiveness.
Purpose of the Study:
- To develop a novel, intuitive method for controlling robot arm movement compliance through a touch-sensitive skin.
- To create a robot skin that enhances safety during human-robot interaction for assistive applications.
- To identify optimal conductive and insulating materials for a functional robot skin.
Main Methods:
- Developed a touch-activated "skin" for a robot arm that modulates its movement compliance.
- Investigated four conductive materials and four insulators to determine the best combination for the skin.
- Evaluated materials based on continuous activation surface, required activation force, and voltage change consistency.
Main Results:
- The developed skin acts as a switch, enabling compliant mode upon touch and non-compliant mode upon release.
- Selected a specific combination of conductive and insulating materials that met design goals.
- Achieved a continuous activation surface with minimal force and consistent voltage changes.
Conclusions:
- The novel robot skin provides an intuitive and safe method for controlling assistive robot arm movement.
- This touch-based compliance control system enhances human-robot interaction for users with physical limitations.
- The material selection process ensured a reliable and effective robot skin for assistive robotics.
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