Quantification of human-robot physical contact states based on tactile sensing

H. Iwata, K. Tomita, S. Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper, we propose a method for quantifying human-robot physical contact states based on tactile sensory data, as a first step to realize real-time contact state identification systems. Artificial tactile cognition for robots constructed by this method, which nearly copies human's tactile cognition performance, is herein presented. First, we have made robots learn the relationship between characteristics of tactile stimuli sensed and expressions to the stimuli verbalized by a human (receiver) when he/she is touched by other people. As a result of learning by a neural network called MCP (modified counter propagation), self-organizing maps that contain the quantitative relationship are formed. Next, in order to quantify the performance of receiver's tactile probability among contact states is proposed. Connection weights in the neural network are applied to calculate it. Confusion matrix enables robots that come into contact with a human, to recognize and infer the aspect of contact states almost the same as the receiver represents, based on only tactile sensing. Finally, from experiments, we confirmed that the proposed method is useful for quantifying human-robot contact states.

Original languageEnglish
Title of host publicationProceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages610-615
Number of pages6
ISBN (Electronic)0780377591
DOIs
Publication statusPublished - 2003 Jan 1
Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
Duration: 2003 Jul 202003 Jul 24

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume1

Other

Other2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
CountryJapan
CityKobe
Period03/7/2003/7/24

Keywords

  • Cognition
  • Cognitive robotics
  • Face detection
  • Human robot interaction
  • Humanoid robots
  • Interference
  • Medical robotics
  • Robot sensing systems
  • Symbiosis
  • Tactile sensors

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Iwata, H., Tomita, K., & Sugano, S. (2003). Quantification of human-robot physical contact states based on tactile sensing. In Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 (pp. 610-615). [1225164] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 1). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2003.1225164