HUMAN-ROBOT INTERFACE DEVICE

摘要

A human-robot interface device is provided to interact with a work environment by be capable of various patterns of works according to the various work environment such as a construction field. A human-robot interface device includes a human-robot terminal unit(11), a de-coupler(100), a work order force/torque sensor(300), an operating wheel(200), a coupling unit(400), an external force sensing force/torque sensor(500), and a processing unit(600). An inner surface of the de-coupler is coupled with the human-robot terminal unit and an outer surface of the de-coupler includes a plurality of supporting legs projected outwardly. The work order force/torque sensor is coupled with the outer surface of the de-coupler and formed between the supporting legs. The operating wheel is coupled with the work order force/torque sensor and transmits the force and torque according to the operation of a worker to the work order force/torque sensor. The coupling unit is coupled to an outer portion of the supporting legs without contacting with the operating wheel. An inner surface of the external force sensing force/torque sensor is coupled with the coupling unit, and an outer surface of the external force sensing force/torque sensor is coupled with a work object, and the inner surface of the external force sensing force/torque sensor senses force and torque according to the contact with a work environment. The processing unit controls the driving of a human-robot using a measured value inputted from the work order force/torque sensor and the external force sensing force/torque sensor, and motion trace information of the human-robot terminal unit.