A tactile language for intuitive human-robot communication

Schmid, Andreas; Hoffmann, Martin; Woern, Heinz

doi:10.1145/1322192.1322206

Cited by 8 publications

(19 citation statements)

References 4 publications

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“…The arraybased work of Wosch and Feiten [42] covers an 8-DoF manipulator arm in 45 conductive foam force sensors. Schmid et al [43] detect contact regions via pixel signature through an iGesture Pad, or alternatively a custom resistive pressure sensor array, placed on the robot arm. Multiple relational parameters are extracted from a single finger stroke (e.g.…”

Section: The More Recent Partner Ballroom Dance Robot (Pbdr)mentioning

confidence: 99%

“…Symbolic force contacts, amounting to a tap alphabet, are inferred for behavior selection in the work of Wosch and Feiten [42]. A broader tactile alphabet is developed in Schmid et al [43], where multi-finger contact strokes are used for both direct teleoperation as well as higher level robot control via the selection of behavior commands (e.g. Table 1).…”

Section: Relating To the State Of The Robotmentioning

confidence: 99%

“…Within the topic of contribution contact, the state-of-the-art takes two branches. The first branch uses human touch to directly control robot motion, through teleoperation and behavior selection via a defined tactile alphabet [43] or by guiding compliant robot motion through the use of forcefollowing algorithms [41,46]. The second branch infers human intentions -moreover, the intentions of humans within general society (i.e.…”

Section: (How It Is Used)mentioning

confidence: 99%

“…using the PVDF-based silicone skin of Miyashita et al [18]) or relational information (e.g. using the resistive pressure sensor array of Schmid et al [43]). …”

Section: Connecting Sensors and Interactionsmentioning

confidence: 99%

“…The few haptics applications included in this review therefore had the tactile interface located directly on the robot body (e.g. [43]). …”

Section: Scope Of This Reviewmentioning

confidence: 99%

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A survey of Tactile Human–Robot Interactions

Argall

Billard

2010

Robotics and Autonomous Systems

299

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a b s t r a c tRobots come into physical contact with humans in both experimental and operational settings. Many potential factors motivate the detection of human contact, ranging from safe robot operation around humans, to robot behaviors that depend on human guidance. This article presents a review of current research within the field of Tactile Human-Robot Interactions (Tactile HRI), where physical contact from a human is detected by a robot during the execution or development of robot behaviors. Approaches are presented from two viewpoints: the types of physical interactions that occur between the human and robot, and the types of sensors used to detect these interactions. We contribute a structure for the categorization of Tactile HRI research within each viewpoint. Tactile sensing techniques are grouped into three categories, according to what covers the sensors: (i) a hard shell, (ii) a flexible substrate or (iii) no covering. Three categories of physical HRI likewise are identified, consisting of contact that (i) interferes with robot behavior execution, (ii) contributes to behavior execution and (iii) contributes to behavior development. We populate each category with the current literature, and furthermore identify the stateof-the-art within categories and promising areas for future research.

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Section: The More Recent Partner Ballroom Dance Robot (Pbdr)mentioning

confidence: 99%

Section: Relating To the State Of The Robotmentioning

confidence: 99%

Section: (How It Is Used)mentioning

confidence: 99%

“…using the PVDF-based silicone skin of Miyashita et al [18]) or relational information (e.g. using the resistive pressure sensor array of Schmid et al [43]). …”

Section: Connecting Sensors and Interactionsmentioning

confidence: 99%

“…The few haptics applications included in this review therefore had the tactile interface located directly on the robot body (e.g. [43]). …”

Section: Scope Of This Reviewmentioning

confidence: 99%

See 3 more Smart Citations