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

H. Iwata, K. Tomita, S. Sugano

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
出版社Institute of Electrical and Electronics Engineers Inc.
ページ610-615
ページ数6
ISBN(電子版)0780377591
DOI
出版ステータスPublished - 2003 1 1
イベント2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
継続期間: 2003 7 202003 7 24

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
1

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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