From compliance control to collaborative control: utilization of force sensation
ABSTRACT of the TALK
One of the challenges in human-robot cooperation is how to handle physically interacting positions and forces. While vision sensors and optical encoders can detect precise position information and their signal processing technologies have been developed, force sensing and its signal processing are still under development. Therefore, in this talk, I introduce some sensing methods and signal processing focusing on force sensing, and discuss their potential. It is also discussed how force information should be incorporated into cooperative control.
Toshiaki Tsuji received the B.E. degree in system design engineering and the M.E. and Ph.D. degrees in integrated design engineering from Keio University, Yokohama, Japan, in 2001, 2003, and 2006, respectively. He was a Research Associate with the Department of Mechanical Engineering, Tokyo University of Science, from 2006 to 2007. He is currently an Associate Professor with the Department of Electrical and Electronic Systems, Saitama University, Saitama, Japan. His research interests include motion control, haptics and rehabilitation robots. Dr. Tsuji received the FANUC FA and Robot Foundation Original Paper Award, in 2007 and 2008, respectively
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