Touch: The intuitive type of human and robot interaction

G. Grunwald, G. Schreiber, A. Albu-Schäffer, G. Hirzinger

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

3 Scopus citations


The mobile service robots will share their workspaces e.g. offices, hospitals or households with humans. Thus a direct contact between man and machine is inevitably. Robots equipped with appropriate sensors can sense the touch. In this paper we present how an untrained user can intuitively communicate with a DLR light-weight robot just by touching the arm. The robot with 7 dof's will react by an evasiveness motion of the touched links while remaining the orientation of the TCP. This feature will also be used for programming the robot. Programming by "Touch" is very intuitive as you take the robot at hand and demonstrate the robot-task.

Original languageEnglish
Title of host publicationAdvances in Human-Robot Interaction
EditorsErwin Prassler, Gisbert Lawitzky, Andreas Stopp, Gerhard Grunwald, Martin Hagele, Rudiger Dillmann, Ioannis Iossifidis
Number of pages13
StatePublished - 2005
Externally publishedYes

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


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