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http://dx.doi.org/10.5573/ieie.2015.52.3.206

Development of Direct Teaching Control using ITO Touch Panel  

Yoon, Jae Seok (Electronics and Radio Department, Kyung-Hee University)
Nam, Sang Yep (Information and Communication Engineering Department, Kook-je College)
Kim, Ki Eun (Information and Communication Engineering Department, Kook-je College)
Kim, Dong-Han (Electronics and Radio Department, Kyung-Hee University)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.52, no.3, 2015 , pp. 206-212 More about this Journal
Abstract
This paper proposes the physical human-robot interaction method that controls the robot arms using ITO touch panel sensor as the skin of robot. To implement physical human-robot interaction, the method of using the force/torque sensor and the method of using tactile sensor created by arranging small element type of sensor have been studied. However, these sensors have the pros and cons in terms of price and performance. This study aims to demonstrate the economy of element type sensor and the accuracy of force/torque sensor through experiment by proposing the method of physical interaction using the touch panel as the skin of robot, and by constructing overall system. The experiment was carried out for the method of controlling the robot arm by installing end-effecter and the method of controlling robot arm by creating the gesture with reference point on the touch panel. Through this experiment, the possibility of teaching control using the touch panel was confirmed.
Keywords
Touch panel; Robot skin; Human-Robot Interaction; Physical human-robot contact;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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