0
Research Papers

Design, Control, and Experimental Validation of a Handshaking Reactive Robotic Interface

[+] Author and Article Information
Nicolò Pedemonte

Département de Génie Mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: nicolo.pedemonte.1@ulaval.ca

Thierry Laliberté

Département de Génie Mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: thierry@gmc.ulaval.ca

Clément Gosselin

Département de Génie Mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: gosselin@gmc.ulaval.ca

Manuscript received February 5, 2015; final manuscript received July 20, 2015; published online September 25, 2015. Assoc. Editor: Aaron M. Dollar.

J. Mechanisms Robotics 8(1), 011020 (Sep 25, 2015) (9 pages) Paper No: JMR-15-1026; doi: 10.1115/1.4031167 History: Received February 05, 2015; Revised July 20, 2015

The objective of this work is to develop a communication system that allows two people to shake hands while being in different locations. To this end, a novel haptic interface that is capable of performing a robotic handshake is designed and built. At the final stage of the project, the system will be composed of two such interfaces. In this paper, the attention is focused on the development of the haptic interface itself. The design process and the control strategy are first discussed. Then, an experimental session is proposed in order to analyze the robotic handshake performed by the interface. The collected data will be used to tune the interface’s behavior in the context of the communication system.

Copyright © 2016 by ASME
Your Session has timed out. Please sign back in to continue.

References

Goodrich, M. A. , and Schultz, A. C. , 2007, “ Human–Robot Interaction: A Survey,” Found. Trends Hum.-Comput. Interact., 1(3), pp. 203–275. [CrossRef]
Loomis, J. M. , and Lederman, S. J. , 1986, “ Tactual Perception,” Handbook of Perception and Human Performances, Vol. 2, Wiley, New York, p. 2.
Lederman, S. J. , and Klatzky, R. L. , 2009, “ Haptic Perception: A Tutorial,” Atten. Percept. Psychophysics, 71(7), pp. 1439–1459. [CrossRef]
Hashimoto, H. , and Manoratkul, S. , 1996, “ Tele-Handshake Through the Internet,” 5th IEEE International Workshop on Robot and Human Communication, Tsukuba, Japan, Nov. 11–14, pp. 90–95.
Kunii, Y. , and Hashimoto, H. , 1995, “ Tele-Handshake Using HandShake Device,” 21st IEEE International Conference on Industrial Electronics, Control, and Instrumentation (IECON), Orlando, FL, Nov. 6–10, Vol. 1, pp. 179–182.
Nakanishi, H. , Tanaka, K. , and Wada, Y. , 2014, “ Remote Handshaking: Touch Enhances Video-Mediated Social Telepresence,” SIGCHI Conference on Human Factors in Computing Systems (CHI '14), Toronto, Canada, Apr. 26–May 1, pp. 2143–2152.
Zeng, Y. , Li, Y. , Xu, P. , and Ge, S. , 2012, “ Human-Robot Handshaking: A Hybrid Deliberate/Reactive Model,” Social Robotics, Springer, Berlin, pp. 258–267.
Xie, G. , Jin, M. , Wu, D. , and Hashimoto, M. , 2011, “ Control for Physical Human-Robot Interaction Based on Online Update of Dynamics,” IEEE International Conference on Computer Science and Automation Engineering (CSAE), Shanghai, China, June 10–12, Vol. 2, pp. 280–284.
Yamato, Y. , Jindai, M. , and Watanabe, T. , 2008, “ Development of a Shake-Motion Leading Model for Human-Robot Handshaking,” IEEE SICE Annual Conference, Tokyo, Japan, Aug. 20–22, pp. 502–507.
Kasuga, T. , and Hashimoto, M. , 2005, “ Human-Robot Handshaking Using Neural Oscillators,” IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, Spain, Apr. 18–22, pp. 3802–3807.
Wang, Z. , Peer, A. , and Buss, M. , 2009, “ An HMM Approach to Realistic Haptic Human-Robot Interaction,” Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics 2009), Salt Lake City, UT, Mar. 18–20, pp. 374–379.
Schulz, S. , Pylatiuk, C. , and Bretthauer, G. , 2001, “ A New Ultralight Anthropomorphic Hand,” IEEE International Conference on Robotics and Automation (ICRA 2001), Seoul, Korea, May 21–26, Vol. 3, pp. 2437–2441.
Pons, J. , Rocon, E. , Ceres, R. , Reynaerts, D. , Saro, B. , Levin, S. , and Van Moorleghem, W. , 2004, “ The MANUS-HAND Dextrous Robotics Upper Limb Prosthesis: Mechanical and Manipulation Aspects,” Auton. Rob., 16(2), pp. 143–163. [CrossRef]
Zollo, L. , Roccella, S. , Guglielmelli, E. , Carrozza, M. C. , and Dario, P. , 2007, “ Biomechatronic Design and Control of an Anthropomorphic Artificial Hand for Prosthetic and Robotic Applications,” IEEE/ASME Trans. Mechatronics, 12(4), pp. 418–429. [CrossRef]
Kawasaki, H. , Komatsu, T. , and Uchiyama, K. , 2002, “ Dexterous Anthropomorphic Robot Hand With Distributed Tactile Sensor: Gifu Hand II,” IEEE/ASME Trans. Mechatronics, 7(3), pp. 296–303. [CrossRef]
Lovchik, C. , and Diftler, M. A. , 1999, “ The Robonaut Hand: A Dexterous Robot Hand for Space,” IEEE International Conference on Robotics and Automation (ICRA), Detroit, MI, May 10–15, Vol. 2, pp. 907–912.
Laliberté, T. , and Gosselin, C. M. , 1998, “ Simulation and Design of Underactuated Mechanical Hands,” Mech. Mach. Theory, 33(1), pp. 39–57. [CrossRef]
Massa, B. , Roccella, S. , Carrozza, M. , and Dario, P. , 2002, “ Design and Development of an Underactuated Prosthetic Hand,” IEEE International Conference on Robotics and Automation (ICRA’02), Washington, DC, May 11–15, Vol. 4, pp. 3374–3379.
Begoc, V. , Krut, S. , Dombre, E. , Durand, C. , and Pierrot, F. , 2007, “ Mechanical Design of a New Pneumatically Driven Underactuated Hand,” IEEE International Conference on Robotics and Automation (ICRA), Rome, Apr. 10–14, pp. 927–933.
Gosselin, C. , Pelletier, F. , and Laliberte, T. , 2008, “ An Anthropomorphic Underactuated Robotic Hand With 15 DOFs and a Single Actuator,” IEEE International Conference on Robotics and Automation (ICRA 2008), Pasadena, CA, May 19–23, pp. 749–754.
Laliberté, T. , Baril, M. , Guay, F. , and Gosselin, C. , 2010, “ Towards the Design of a Prosthetic Underactuated Hand,” Mech. Sci., 1(1), pp. 19–26. [CrossRef]
Baril, M. , Laliberté, T. , Gosselin, C. , and Routhier, F. , 2013, “ On the Design of a Mechanically Programmable Underactuated Anthropomorphic Prosthetic Gripper,” ASME J. Mech. Des, 135(12), p. 121008. [CrossRef]
Birglen, L. , Gosselin, C. , and Laliberté, T. , 2008, Underactuated Robotic Hands, Vol. 40, Springer, Berlin.
Laliberté, T. , Birglen, L. , and Gosselin, C. , 2002, “ Underactuation in Robotic Grasping Hands,” Mach. Intell. Rob. Control, 4(3), pp. 1–11.
Baril, M. , Laliberté, T. , Guay, F. , and Gosselin, C. , 2010, “ Static Analysis of Single-Input/Multiple-Output Tendon-Driven Underactuated Mechanisms for Robotic Hands,” ASME Paper No. DETC2010-28933.
Birglen, L. , and Gosselin, C. M. , 2004, “ Kinetostatic Analysis of Underactuated Fingers,” IEEE Trans. Rob. Autom., 20(2), pp. 211–221. [CrossRef]
Pedemonte, N. , Laliberte, T. , and Gosselin, C. , 2013, “ A Bidirectional Haptic Device for the Training and Assessment of Handwriting Capabilities,” World Haptics Conference (WHC), Daejeon, South Korea, Apr. 14–17, pp. 599–604.
Hayward, V. , and MacLean, K. , 2007, “ Do It Yourself Haptics: Part I,” IEEE Rob. Autom. Mag., 14(4), pp. 88–104. [CrossRef]
Van der Linde, R. Q. , Lammertse, P. , Frederiksen, E. , and Ruiter, B. , 2002, “ The HapticMaster, a New High-Performance Haptic Interface,” Eurohaptics 2002, Edinburgh, UK, July 8–10.
Lecours, A. , Mayer-St-Onge, B. , and Gosselin, C. , 2012, “ Variable Admittance Control of a Four-Degree-of-Freedom Intelligent Assist Device,” IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, MN, May 14–18, pp. 3903–3908.
Franklin, G. F. , Powell, J. D. , and Emami-Naeini, A. , 1986, Feedback Control of Dynamic Systems, Addison-Wesley, Reading, MA.
Ikeura, R. , and Inooka, H. , 1995, “ Variable Impedance Control of a Robot for Cooperation With a Human,” IEEE International Conference on Robotics and Automation (ICRA), Nagoya, Japan, May 21–27, Vol. 3, pp. 3097–3102.
Duchaine, V. , and Gosselin, C. , 2007, “ General Model of Human-Robot Cooperation Using a Novel Velocity Based Variable Impedance Control,” Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics 2007), Tsukuba, Japan, Mar. 22–24, pp. 446–451.
Ikeura, R. , Moriguchi, T. , and Mizutani, K. , 2002, “ Optimal Variable Impedance Control for a Robot and Its Application to Lifting an Object With a Human,” 11th IEEE International Workshop on Robot and Human Interactive Communication, Berlin, Germany, Sept. 25–27, pp. 500–505.
Dubey, R. V. , Chan, T. F. , and Everett, S. E. , 1997, “ Variable Damping Impedance Control of a Bilateral Telerobotic System,” IEEE Control Syst., 17(1), pp. 37–45. [CrossRef]
Hall, P. , and Spencer Hall, D. , 1983, “ The Handshake as Interaction,” Semiotica, 45(3–4), pp. 249–264.
Astrom, J. , and Thorell, L.-H. , 1996, “ Greeting Behaviour and Psychogenic Need: Interviews on Experiences of Therapists, Clergymen, and Car Salesmen,” Perceptual Mot. Skills, 83(3), pp. 939–956. [CrossRef]
Chaplin, W. F. , Phillips, J. B. , Brown, J. D. , Clanton, N. R. , and Stein, J. L. , 2000, “ Handshaking, Gender, Personality, and First Impressions,” J. Pers. Soc. Psychol., 79(1), pp. 110–117. [CrossRef] [PubMed]

Figures

Grahic Jump Location
Fig. 1

The one-DOF parallel jaw mechanism, which represents the first step toward the design of the haptic interface, namely, its actuated palm

Grahic Jump Location
Fig. 2

An internal and a front view of the actuated palm. The two parallel jaws, one of which is equipped with a load cell (upper jaw), are driven by the motor and translate in opposite directions.

Grahic Jump Location
Fig. 3

Geometric design of the underactuated finger proposed in Ref.[20] and the solid model of the finger proposed in Ref [22]

Grahic Jump Location
Fig. 4

Finger positions corresponding to an open (left) and a closed (right) jaw

Grahic Jump Location
Fig. 5

The finger actuation system: only one motor and one load cell are required to actuate the fingers and modulate their grasping force

Grahic Jump Location
Fig. 6

Schematic illustrating the underactuation of the fingers

Grahic Jump Location
Fig. 7

The gear train on the backside of the device

Grahic Jump Location
Fig. 8

The passively driven thumb

Grahic Jump Location
Fig. 9

The HaRRI prototype

Grahic Jump Location
Fig. 10

Structure of the control algorithm

Grahic Jump Location
Fig. 11

The variable parameters during a typical handshake. At t = 0.3 s, the user grasps the haptic interface: cF, kP, and kF drop to their minimal value while cP starts decreasing. At t = 1 s, the user stops grasping and releases the interface: cP and cF immediately recover their maximum values while kP and kF slowly start raising and both the palm and the fingers go back to the initial (open) position.

Grahic Jump Location
Fig. 12

The experimental setup with the KUKA LWR

Grahic Jump Location
Fig. 13

The grasping force can be measured by means of a dynamometer, which must be properly positioned in order to measure the force exerted by the interface as if it were performing the handshake

Grahic Jump Location
Fig. 14

Displacements of the haptic interface and forces measured by the KUKA LWR robot at its end effector during a typical handshake. As it can be observed, the user moves the interface mainly along his/her longitudinal axis and the longitudinal forces are larger than the sagittal forces.

Grahic Jump Location
Fig. 15

User force and HaRRI force during a squeezing exercise. It can be observed that a variable threshold value for the driving tendon tension leads to an adaptive robotic handshake. The firmer the user grasps, the firmer the interface tightens back, subjected to its intrinsic limits.

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In