Experimental study on haptic communication of a human in a shared human-robot collaborative task
Identifieur interne : 001F83 ( Main/Exploration ); précédent : 001F82; suivant : 001F84Experimental 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 :
English descriptors
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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.
Url:
DOI: 10.1109/IROS.2012.6385721
Affiliations:
- France
- Languedoc-Roussillon
- Montpellier
- PRES Sud de France, Université Montpellier 1, Université Montpellier 3
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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><affiliations><list><country><li>France</li></country><region><li>Languedoc-Roussillon</li></region><settlement><li>Montpellier</li></settlement><orgName><li>PRES Sud de France</li><li>Université Montpellier 1</li><li>Université Montpellier 3</li></orgName></list><tree><country name="France"><noRegion><name sortKey="Dumora, Julie" sort="Dumora, Julie" uniqKey="Dumora J" first="Julie" last="Dumora">Julie Dumora</name></noRegion><name sortKey="Bidard, Catherine" sort="Bidard, Catherine" uniqKey="Bidard C" first="Catherine" last="Bidard">Catherine Bidard</name><name sortKey="Brouillet, Thibault" sort="Brouillet, Thibault" uniqKey="Brouillet T" first="Thibault" last="Brouillet">Thibault Brouillet</name><name sortKey="Fraisse, Philippe" sort="Fraisse, Philippe" uniqKey="Fraisse P" first="Philippe" last="Fraisse">Philippe Fraisse</name><name sortKey="Geffard, Franck" sort="Geffard, Franck" uniqKey="Geffard F" first="Franck" last="Geffard">Franck Geffard</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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