3D printed soft skin for safe human-robot interaction

Joohyung Kim, Alexander Alspach, Katsu Yamane

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The purpose of this research is the development of a soft skin module with a built-in airtight cavity in which air pressure can be sensed. A pressure feedback controller is implemented on a robotic system using this module for contact sensing and gentle grasping. The soft skin module is designed to meet size and safety criteria appropriate for a toy-sized interactive robot. All module prototypes are produced using a muti-material 3D printer. Experimental results from collision tests show that this module significantly reduces the impact forces due to collision. Also, using the measured pressure information from the module, the robotic system to which these modules are attached is capable of very gentle physical interaction with soft objects.

Original languageEnglish (US)
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2419-2425
Number of pages7
ISBN (Electronic)9781479999941
DOIs
StatePublished - Dec 11 2015
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: Sep 28 2015Oct 2 2015

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2015-December
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
CountryGermany
CityHamburg
Period9/28/1510/2/15

Keywords

  • Cavity resonators
  • Collision avoidance
  • Robot sensing systems
  • Skin
  • Three-dimensional displays

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Kim, J., Alspach, A., & Yamane, K. (2015). 3D printed soft skin for safe human-robot interaction. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 2419-2425). [7353705] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7353705