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

    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 publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages610-615
    Number of pages6
    Volume1
    ISBN (Print)0780377591
    DOIs
    Publication statusPublished - 2003
    Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
    Duration: 2003 Jul 202003 Jul 24

    Other

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

    Fingerprint

    Robots
    Neural networks
    Self organizing maps
    Identification (control systems)
    Experiments

    Keywords

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

    ASJC Scopus subject areas

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

    Cite this

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

    Quantification of human-robot physical contact states based on tactile sensing. / Iwata, Hiroyasu; Tomita, K.; Sugano, Shigeki.

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 1 Institute of Electrical and Electronics Engineers Inc., 2003. p. 610-615 1225164.

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

    Iwata, H, Tomita, K & Sugano, S 2003, Quantification of human-robot physical contact states based on tactile sensing. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. vol. 1, 1225164, Institute of Electrical and Electronics Engineers Inc., pp. 610-615, 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003, Kobe, Japan, 03/7/20. https://doi.org/10.1109/AIM.2003.1225164
    Iwata H, Tomita K, Sugano S. Quantification of human-robot physical contact states based on tactile sensing. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 1. Institute of Electrical and Electronics Engineers Inc. 2003. p. 610-615. 1225164 https://doi.org/10.1109/AIM.2003.1225164
    Iwata, Hiroyasu ; Tomita, K. ; Sugano, Shigeki. / Quantification of human-robot physical contact states based on tactile sensing. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 1 Institute of Electrical and Electronics Engineers Inc., 2003. pp. 610-615
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