Wrapped Haptic Display for Communicating Physical Robot Learning

by   Antonio Alvarez Valdivia, et al.
Purdue University
Virginia Polytechnic Institute and State University

Physical interaction between humans and robots can help robots learn to perform complex tasks. The robot arm gains information by observing how the human kinesthetically guides it throughout the task. While prior works focus on how the robot learns, it is equally important that this learning is transparent to the human teacher. Visual displays that show the robot's uncertainty can potentially communicate this information; however, we hypothesize that visual feedback mechanisms miss out on the physical connection between the human and robot. In this work we present a soft haptic display that wraps around and conforms to the surface of a robot arm, adding a haptic signal at an existing point of contact without significantly affecting the interaction. We demonstrate how soft actuation creates a salient haptic signal while still allowing flexibility in device mounting. Using a psychophysics experiment, we show that users can accurately distinguish inflation levels of the wrapped display with an average Weber fraction of 11.4 display around the arm of a robotic manipulator, users are able to interpret and leverage the haptic signal in sample robot learning tasks, improving identification of areas where the robot needs more training and enabling the user to provide better demonstrations. See videos of our device and user studies here: https://youtu.be/tX-2Tqeb9Nw


page 1

page 3

page 6

page 7


Wrapping Haptic Displays Around Robot Arms to Communicate Learning

Humans can leverage physical interaction to teach robot arms. As the hum...

Unified Learning from Demonstrations, Corrections, and Preferences during Physical Human-Robot Interaction

Humans can leverage physical interaction to teach robot arms. This physi...

Enabling Robots to Infer how End-Users Teach and Learn through Human-Robot Interaction

During human-robot interaction (HRI), we want the robot to understand us...

Brain Responses During Robot-Error Observation

Brain-controlled robots are a promising new type of assistive device for...

The Six Hug Commandments: Design and Evaluation of a Human-Sized Hugging Robot with Visual and Haptic Perception

Receiving a hug is one of the best ways to feel socially supported, and ...

Learning to Share Autonomy Across Repeated Interaction

Wheelchair-mounted robotic arms (and other assistive robots) should help...

Please sign up or login with your details

Forgot password? Click here to reset