Titlebook: Robot Physical Interaction through the combination of Vision, Tactile and Force Feedback; Applications to Assi Mario Prats,ángel P. del Pob

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A Framework for Sensor-Based Physical Interaction,table task-oriented grasp in most of the cases. The grasp does not need to be prehensile. Most of our daily life manipulation is done trough non-prehensile grasps. Interaction with the environment is always preceded by a contact configuration, as a result of a prehensile or non-prehensile grasp

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Planning of Physical Interaction Tasks,tion task can be described through a suitable specification of the physical interaction frames and the relationship between them. The proposed framework is based on well-established approaches to grasp and task planning, and part of the physical interaction frames are adopted from the underlying techniques

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Physical Interaction: Adding Vision,ider now the advantages of adding vision sensors. Computer vision can provide a powerful way of sensing the environment and can potentially reduce or avoid the need of structuring it. The purpose of this chapter is to study the additional value that vision feedback can provide to force-based physical interaction.

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Physical Interaction: The Contribution of Tactile Sensors,nd the palm of the human hand, which provide rich information, mainly about the contact distribution, limb motion and forces. They can be classified into fast adapting (FA) and slowly adapting (SA) mechanoreceptors, being the former suitable for measuring skin vibrations, and the latter able to detect static stimuli.