Sensitive grip mounting surfaces for physical human-robot interaction.

As the development of robotics becomes ever increasingly present in our society, the need for studying how humans and robots interact with each other becomes more of a necessity to be properly integrated in the changing world around us. In this thesis, we undertake the study and development of how to create a tactile human-robot operator interface to guide a robot perform a physical task. The implementation of tactile interfaces such as SkinCell sensor arrays emulating skin, and of a robotic handlebar fitted with tactile sensors are critical examples of the challenges that come with mounting and packaging such sensors into reliable and ergonomic geometries for humans to use. To address these challenges, we explored the how the mechanical fixturing of the SkinCell sensors plays a role in enhancing the reliability and responsiveness of collected tactile signals in a four SkinCell fixture called the “BoxCan”. This thesis introduces the design of silicone-based sensor substrates ranging from variations of material properties of the beddings to the geometry providing restoring force in order to reduce the amount of material slippage and quality of signal produced. We also implemented a new mounting structure to integrate with the variations in fixturing to provide a stable mounting surface for testing the sensors. This thesis also explores variations in methods to integrate tactile sensors into ergonomic features such as a mobile robot handlebar being a method to both promote its use as a steering system, as well as protect tactile sensors from external damage and ix rubbing. The handlebar casing design fixes onto a robust carbon steel frame to provide a means of support strong enough to act as a bracing for patients losing their balance while providing safety features in the case of falls.