Exploring tactile surface sensors as a gesture input device for intuitive robot programming

Muxfeldt, Arne; Haus, Jan Niklas; Cheng, Jingyuan; Kubus, Daniel

doi:10.1109/etfa.2016.7733658

Cited by 11 publications

(5 citation statements)

References 13 publications

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“…Haptic/tactile devices [15], [16], [17] Dynamic setup on the robot, cost effective, no occlusion Complex computation to recognize contact gesture, complex robot control needed Proposed multimodal sensor approach (Gestureproximity sensors)…”

Section: Restricts Mobility Timeconsuming Setupmentioning

confidence: 99%

“…However, the Wii controller can be cumbersome and interfere with the hands of users in industrial applications. Haptic technology, with tactile and force sensors, has been used to control the compliance of robots while interacting with humans in home and industrial environments [15], [16], [17]. This approach offers dynamic interaction features with robots compared with vision-based gesture interaction, which requires different setup based on changes in the work environment.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Towards an intuitive human-robot interaction based on hand gesture recognition and proximity sensors

Estrela

Martinez-Hernandez

2020

2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

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Section: Restricts Mobility Timeconsuming Setupmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Towards an intuitive human-robot interaction based on hand gesture recognition and proximity sensors

Estrela

Martinez-Hernandez

2020

2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

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“…In recent years, robotic tactile sensing gained attention for both industrial 44,45 and research-oriented platforms like humanoid robots. 46,47 Robot skin can provide precise information about external contacts with the environment in other parts of the body than the end e®ectors.…”

Section: Plantar Robot Skinmentioning

confidence: 99%

“…48 These technologies have successfully improved human-robot interaction, 46,49 grasping of complex objects [50][51][52] and robot safety in industrial environments. 45,53 Nevertheless, the application proposed in this work requires a skin technology capable of holding the weight of a full-size biped or humanoid robot while resisting the impacts produced during biped locomotion on unknown terrain.…”

Section: Plantar Robot Skinmentioning

confidence: 99%

Plantar Tactile Feedback for Biped Balance and Locomotion on Unknown Terrain

Guadarrama-Olvera

Leon

Bergner

et al. 2020

Int. J. Human. Robot.

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This work introduces a new sensing system for biped robots based on plantar robot skin, which provides not only the resultant forces applied on the ankles but a precise shape of the pressure distribution in the sole together with other extra sensing modalities (temperature, pre-touch and acceleration). The information provided by the plantar robot skin can be used to compute the center of pressure and the ground reaction forces. This information also enables the online construction of the supporting polygon and its preemptive shape before foot landing using the proximity sensors in the robot skin. Two experiments were designed to show the advantages of this new sensing technology for improving balance and walking controllers for biped robots over unknown terrain.

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“…A soft tactile sensor was applied for tactile feedback to grasp the prosthetic limb [ 6 ]. Certain tactile sensors function as input devices for intuitive human–computer interaction [ 7 ]. If a tactile sensor is applied to various forms of human–machine interactions, not only is it important to have softness from the viewpoint of comfort and safety but it is also necessary for it to be easily customizable and inexpensive.…”

Section: Introductionmentioning

confidence: 99%

3D Contact Position Estimation of Image-Based Areal Soft Tactile Sensor with Printed Array Markers and Image Sensors

Lee

et al. 2020

Sensors

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Tactile sensors have been widely used and researched in various fields of medical and industrial applications. Gradually, they will be used as new input devices and contact sensors for interactive robots. If a tactile sensor is to be applied to various forms of human–machine interactions, it needs to be soft to ensure comfort and safety, and it should be easily customizable and inexpensive. The purpose of this study is to estimate 3D contact position of a novel image-based areal soft tactile sensor (IASTS) using printed array markers and multiple cameras. First, we introduce the hardware structure of the prototype IASTS, which consists of a soft material with printed array markers and multiple cameras with LEDs. Second, an estimation algorithm for the contact position is proposed based on the image processing of the array markers and their Gaussian fittings. A series of basic experiments was conducted and their results were analyzed to verify the effectiveness of the proposed IASTS hardware and its estimation software. To ensure the stability of the estimated contact positions a Kalman filter was developed. Finally, it was shown that the contact positions on the IASTS were estimated with a reasonable error value for soft haptic applications.

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Exploring tactile surface sensors as a gesture input device for intuitive robot programming

Cited by 11 publications

References 13 publications

Towards an intuitive human-robot interaction based on hand gesture recognition and proximity sensors

Towards an intuitive human-robot interaction based on hand gesture recognition and proximity sensors

Plantar Tactile Feedback for Biped Balance and Locomotion on Unknown Terrain

3D Contact Position Estimation of Image-Based Areal Soft Tactile Sensor with Printed Array Markers and Image Sensors

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