Experimental study on haptic communication of a human in a shared human-robot collaborative task
Identifieur interne : 000212 ( Hal/Curation ); précédent : 000211; suivant : 000213Experimental study on haptic communication of a human in a shared human-robot collaborative task
Auteurs : Julie Dumora [France] ; Franck Geffard [France] ; Catherine Bidard [France] ; Thibault Brouillet [France] ; Philippe Fraisse [France]Source :
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Abstract
We aim at addressing in this paper the issue of non-verbal communication involved in a human-robot interaction. We first propose a taxonomy of assistance that an operator may expect from a partner during a long object manipulation task. Then, this paper presents a method to detect which kind of robot assistance is needed, thanks to the decoding of haptic cues conveyed by the operator. An experimental study on thirty subjects moving a long object together with a robot that is providing an assistance is introduced. A statistical analysis highlights the relationships between haptic measures and intentions of motion. This analysis shows that wrench measurements constitute an incomplete information to detect the operator's intention of motion.
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DOI: 10.1109/IROS.2012.6385721
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We first propose a taxonomy of assistance that an operator may expect from a partner during a long object manipulation task. Then, this paper presents a method to detect which kind of robot assistance is needed, thanks to the decoding of haptic cues conveyed by the operator. An experimental study on thirty subjects moving a long object together with a robot that is providing an assistance is introduced. A statistical analysis highlights the relationships between haptic measures and intentions of motion. This analysis shows that wrench measurements constitute an incomplete information to detect the operator's intention of motion.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="en">Experimental study on haptic communication of a human in a shared human-robot collaborative task</title><author role="aut"><persName><forename type="first">Julie</forename><surname>Dumora</surname></persName><email></email><idno type="halauthor">825632</idno><affiliation ref="#struct-40217"></affiliation></author><author role="aut"><persName><forename type="first">Franck</forename><surname>Geffard</surname></persName><email></email><idno type="halauthor">825633</idno><affiliation ref="#struct-40217"></affiliation></author><author role="aut"><persName><forename type="first">Catherine</forename><surname>Bidard</surname></persName><email></email><idno type="halauthor">825634</idno><affiliation ref="#struct-40217"></affiliation></author><author role="aut"><persName><forename type="first">Thibault</forename><surname>Brouillet</surname></persName><email></email><idno type="halauthor">825635</idno><affiliation ref="#struct-117373"></affiliation></author><author role="aut"><persName><forename type="first">Philippe</forename><surname>Fraisse</surname></persName><email>fraisse@lirmm.fr</email><ptr type="url" target="http://www.lirmm.fr/~fraisse"></ptr><idno type="halauthor">659744</idno><affiliation ref="#struct-395113"></affiliation></author><editor role="depositor"><persName><forename>François</forename><surname>Keith</surname></persName><email>keith@lirmm.fr</email></editor></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2013-03-08 23:05:37</date><date type="whenModified">2016-05-04 07:44:53</date><date type="whenReleased">2013-03-24 10:22:00</date><date type="whenProduced">2012-10-07</date></edition><respStmt><resp>contributor</resp><name key="175225"><persName><forename>François</forename><surname>Keith</surname></persName><email>keith@lirmm.fr</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">lirmm-00798593</idno><idno type="halUri">http://hal-lirmm.ccsd.cnrs.fr/lirmm-00798593</idno><idno type="halBibtex">dumora:lirmm-00798593</idno><idno type="halRefHtml">IROS: Intelligent RObots and Systems, Oct 2012, Vilamoura, Algarve, Portugal. IEEE/RSJ, pp.5137-5144, 2012, <http://www.iros2012.org/site/>. <10.1109/IROS.2012.6385721></idno><idno type="halRef">IROS: Intelligent RObots and Systems, Oct 2012, Vilamoura, Algarve, Portugal. IEEE/RSJ, pp.5137-5144, 2012, <http://www.iros2012.org/site/>. <10.1109/IROS.2012.6385721></idno></publicationStmt><seriesStmt><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno><idno type="stamp" n="UNIV-MONTP3">Université Paul Valéry - Montpellier III</idno><idno type="stamp" n="IDH" p="LIRMM">Interactive Digital Humans</idno><idno type="stamp" n="LIRMM">Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier</idno><idno type="stamp" n="CEA">CEA - Commissariat à l'énergie atomique</idno><idno type="stamp" n="CEA-UPSAY" p="CEA">CEA - Université Paris-Saclay</idno><idno type="stamp" n="DRT" p="CEA">Direction de la recherche technologique</idno></seriesStmt><notesStmt><note type="audience" n="2">International</note><note type="invited" n="0">No</note><note type="popular" n="0">No</note><note type="peer" n="1">Yes</note><note type="proceedings" n="1">Yes</note></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Experimental study on haptic communication of a human in a shared human-robot collaborative task</title><author role="aut"><persName><forename type="first">Julie</forename><surname>Dumora</surname></persName><idno type="halAuthorId">825632</idno><affiliation ref="#struct-40217"></affiliation></author><author role="aut"><persName><forename type="first">Franck</forename><surname>Geffard</surname></persName><idno type="halAuthorId">825633</idno><affiliation ref="#struct-40217"></affiliation></author><author role="aut"><persName><forename type="first">Catherine</forename><surname>Bidard</surname></persName><idno type="halAuthorId">825634</idno><affiliation ref="#struct-40217"></affiliation></author><author role="aut"><persName><forename type="first">Thibault</forename><surname>Brouillet</surname></persName><idno type="halAuthorId">825635</idno><affiliation ref="#struct-117373"></affiliation></author><author role="aut"><persName><forename type="first">Philippe</forename><surname>Fraisse</surname></persName><email>fraisse@lirmm.fr</email><ptr type="url" target="http://www.lirmm.fr/~fraisse"></ptr><idno type="halAuthorId">659744</idno><affiliation ref="#struct-395113"></affiliation></author></analytic><monogr><meeting><title>IROS: Intelligent RObots and Systems</title><date type="start">2012-10-07</date><date type="end">2012-10-12</date><settlement>Vilamoura, Algarve</settlement><country key="PT">Portugal</country></meeting><imprint><publisher>IEEE/RSJ</publisher><biblScope unit="pp">5137-5144</biblScope><date type="datePub">2012-10-10</date></imprint></monogr><idno type="doi">10.1109/IROS.2012.6385721</idno><ref type="publisher">http://www.iros2012.org/site/</ref></biblStruct></sourceDesc><profileDesc><langUsage><language ident="en">English</language></langUsage><textClass><keywords scheme="author"><term xml:lang="en">end effectors</term><term xml:lang="en">human-robot interaction</term><term xml:lang="en">haptic interfaces</term><term xml:lang="en">motion measurement</term><term xml:lang="en">statistical analysis</term></keywords><classCode scheme="halDomain" n="phys.meca.biom">Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph]</classCode><classCode scheme="halDomain" n="spi.meca.biom">Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph]</classCode><classCode scheme="halTypology" n="COMM">Conference papers</classCode></textClass><abstract xml:lang="en">We aim at addressing in this paper the issue of non-verbal communication involved in a human-robot interaction. We first propose a taxonomy of assistance that an operator may expect from a partner during a long object manipulation task. Then, this paper presents a method to detect which kind of robot assistance is needed, thanks to the decoding of haptic cues conveyed by the operator. An experimental study on thirty subjects moving a long object together with a robot that is providing an assistance is introduced. A statistical analysis highlights the relationships between haptic measures and intentions of motion. This analysis shows that wrench measurements constitute an incomplete information to detect the operator's intention of motion.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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