Experimental study on haptic communication of a human in a shared human-robot collaborative task

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 robo...

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Bibliographic Details
Published in2012 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 5137 - 5144
Main Authors Dumora, J., Geffard, F., Bidard, C., Brouillet, T., Fraisse, P.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2012
Subjects
Current measurement
Displacement measurement
Force
Humans
Robot kinematics
Torque
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ISBN1467317373
9781467317375
ISSN2153-0858
DOI10.1109/IROS.2012.6385721

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Summary: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.
ISBN:1467317373
9781467317375
ISSN:2153-0858
DOI:10.1109/IROS.2012.6385721