Exploring tactile sensing to perform the power grasp of a human-robot handshake

The way humans relate to robots is constantly evolving. The trust that we are gaining towards them, allows an evolution in the cooperation between us and them. Vizzy, a social robot that helps to promote physical exercise among the elderly, was previously programmed to perform handshakes. Its fingers were equipped with magnetic tactile sensors. However, the sensors on the fingers did not produce enough information regarding when to start a handshake, or when to end it, among other information, due to their localization. This work presents an upgrade of its tactile sensing capabilities, introducing a new silicone palm with magnetic sensors that allows to obtain more information during the grasping. In addition, we design a controller that closes the hand in an autonomous way, tailored for handshakes. This work presents the hardware design and implementations, as well as all the software needed to enable the use of the sensors (sensor calibration and design of the new control system). Finally, the results obtained prove a solid calibration, and a positive response to the implemented control system. Furthermore, the silicone palm produced was highly praised for the comfort introduced to the interaction.