Human-robot-contact-state identification based on tactile recognition

    Research output: Contribution to journalArticle

    75 Citations (Scopus)

    Abstract

    In this paper, we propose a method for designing an identification system for human-robot contact states based on tactile recognition. The following ideas are incorporated: experimentation for human-robot contact, verbalization of contact states, extraction of characteristic parameters from acquired tactile information, quantification of the recipient's tactile recognition incorporating its redundancy (identification confusability among contact states), evaluation of the identification confusability with a new criterion, and identification of contact states based on the received tactile stimulation. The proposed method allows a robot to quantify tactile recognition of a human (recipient) touched by other people (touch initiator), in which the verbal response by the recipient is matched with tactile stimulation acquired during physical contact utilizing a tactile interface. In addition, the method enables a robot that comes into contact with a human to identify contact states nearly similar to that of the recipient, based on the features of the received tactile stimulation. At this point, the reproduction of the identification confusability of the recipient's tactile recognition is also accomplished by using a neural network called modified counterpropagation (MCP). Once a tactile stimulation is induced on the robot body, the probability of corresponding contact states is calculated and outputted by the system, based on the degree of similarity of the characteristics between the newly received and previously stored tactile stimulation. Experimental results indicate that the constructed system allows a successful quantification of the recipient's contact-state recognition incorporating the identification confusability and the accomplishment of a high level of accuracy in contact-state identification. These results confirm that the proposed method is useful for identifying human-robot contact states based on tactile recognition.

    Original languageEnglish
    Pages (from-to)1468-1477
    Number of pages10
    JournalIEEE Transactions on Industrial Electronics
    Volume52
    Issue number6
    DOIs
    Publication statusPublished - 2005 Dec

    Fingerprint

    robots
    stimulation
    Robots
    Haptic interfaces
    touch
    system identification
    experimentation
    redundancy
    initiators
    Redundancy
    Identification (control systems)
    Neural networks
    evaluation

    Keywords

    • Human-robot interaction
    • Human-robot Physical InterFerence and contACT (PIFACT)
    • Human-robot tactile interface
    • Humanoid robot
    • Tactile recognition

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Instrumentation

    Cite this

    Human-robot-contact-state identification based on tactile recognition. / Iwata, Hiroyasu; Sugano, Shigeki.

    In: IEEE Transactions on Industrial Electronics, Vol. 52, No. 6, 12.2005, p. 1468-1477.

    Research output: Contribution to journalArticle

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