Combining Human Visual and Haptic Perception in Human-Robot Interaction for Collaborative Manipulation

Abstract

In this report, we present the study of combining human visual and haptic perception in human-robot interaction to realize collaborative manipulation. In our human-robot collaboration scheme, cognitive capabilities of human and accurate motion control capabilities of robot are well integrated. Human operator is designated for coarse global-motion under feedback interfaces utilizing human visual as well as haptic modalities. Fine local-motion in an active manner without involving human intention-aware is realized by a dynamic compensation robotic module with high-speed visual feedback. Primary experimental results verified effectiveness of the proposed method.