摘要
As described in this paper, we propose a new haptic interface for a service robot. For safety with service robots working in a space where people live, some notification before collision with an obstacle is desirable. To achieve such a function, we developed a master-slave manipulator system in which the slave manipulator surface is covered with many proximity sensors. Additionally, we developed a haptic device that feeds back proximity sense information to the operator using small vibration motors. We attached the haptic device to the arm of the operator and vibrated the vibration motor corresponding to the sensor. Thereby, the operator was able to ascertain the position of an object near the manipulator, and to make the robot maneuver to avoid it before collision. To confirm the system usefulness, we equipped subjects with the developed proximity sense presentation device and performed a detection-position-specific experiment and an obstacle avoidance experiment in a narrow space. As results of the detection position specific experiment on five subjects, four subjects reported the detection position correctly. The remaining one person failed because of his particular arm shape. Operation experiments conducted in a narrow space showed that all subjects＇ work was successful when given feedback of proximity sense information. Nobody was successful without proximity sense information. Results of these two experiments demonstrate that this proposed system is useful for obstacle avoidance of a master-slave manipulator system.
