Kinesthetic teaching is a viable solution for programming robots in the execution of new tasks thanks to the human-mediated mapping between the task objectives and the robot joint space. Redundant designs and differences from human kinematics pose challenges in the efficient execution of the teaching task. In this work we employ vibrotactile feedback letting operators understand specific kinematic constraints such as reaching joint limits and singularities. The experimentation with a Baxter robot and a four-motor vibrotactile bracelet is reported showing the effectiveness of the proposed enhancement to the kinesthetic teaching task.
Vibrotactile Feedback for Aiding Robot Kinesthetic Teaching of Manipulation Tasks
RUFFALDI, EMANUELE
;DI FAVA, ALESSANDRO;LOCONSOLE, CLAUDIO;FRISOLI, Antonio;AVIZZANO, Carlo Alberto
2017-01-01
Abstract
Kinesthetic teaching is a viable solution for programming robots in the execution of new tasks thanks to the human-mediated mapping between the task objectives and the robot joint space. Redundant designs and differences from human kinematics pose challenges in the efficient execution of the teaching task. In this work we employ vibrotactile feedback letting operators understand specific kinematic constraints such as reaching joint limits and singularities. The experimentation with a Baxter robot and a four-motor vibrotactile bracelet is reported showing the effectiveness of the proposed enhancement to the kinesthetic teaching task.| File | Dimensione | Formato | |
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2017ROMAN_VibrotactilePerception.pdf
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