DeepAI
Log In Sign Up

Human Tactile Gesture Interpretation for Robotic Systems

Human-robot interactions are less efficient and communicative than human-to-human interactions, and a key reason is a lack of informed sense of touch in robotic systems. Existing literature demonstrates robot success in executing handovers with humans, albeit with substantial reliance on external sensing or with primitive signal processing methods, deficient compared to the rich set of information humans can detect. In contrast, we present models capable of distinguishing between four classes of human tactile gestures at a robot's end effector, using only a non-collocated six-axis force sensor at the wrist. Due to the absence in the literature, this work describes 1) the collection of an extensive force dataset characterized by human-robot contact events, and 2) classification models informed by this dataset to determine the nature of the interaction. We demonstrate high classification accuracies among our proposed gesture definitions on a test set, emphasizing that neural network classifiers on the raw data outperform several other combinations of algorithms and feature sets.

READ FULL TEXT

page 2

page 4

page 5

page 6

06/15/2021

Force-Sensing Tensegrity for Investigating Physical Human-Robot Interaction in Compliant Robotic Systems

Advancements in the domain of physical human-robot interaction (pHRI) ha...
09/30/2022

Deep Learning Classification of Touch Gestures Using Distributed Normal and Shear Force

When humans socially interact with another agent (e.g., human, pet, or r...
11/23/2022

Navigation with Tactile Sensor for Natural Human-Robot Interaction

Tactile sensors have been introduced to a wide range of robotic tasks su...
10/05/2018

FingerVision Tactile Sensor Design and Slip Detection Using Convolutional LSTM Network

Tactile sensing is essential to the human perception system, so as to ro...
08/09/2021

Organization and Understanding of a Tactile Information Dataset TacAct During Physical Human-Robot Interactions

Advanced service robots require superior tactile intelligence to guarant...
01/14/2021

Interpreting and Predicting Tactile Signals for the SynTouch BioTac

In the human hand, high-density contact information provided by afferent...
11/20/2017

Non-Contextual Modeling of Sarcasm using a Neural Network Benchmark

One of the most crucial components of natural human-robot interaction is...