Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

Navarro, Stefan Escaida; Mühlbacher-Karrer, Stephan; Alagi, Hosam; Zangl, Hubert; Koyama, Keisuke; Hein, Björn; Duriez, Christian; Smith, Joshua R.

doi:10.1109/tro.2021.3111786

Cited by 56 publications

(17 citation statements)

References 137 publications

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“…In this work, we sorted the human activity recognition into three problems (Figure 2) according to the attributes of the targeted task: body position-related problem, body action-related problem, and body status-related problem corresponding to the questions of "where", "what", and "how", respectively. The"where" problem addresses the position-related recognition, such as indoor positioning [20], tracking [21], proximity [22], etc. The "what" problem deals with the action-related recognition, which belongs to the most widely researched section under the HAR task.…”

Section: Object Of Human Activities Recognition (Har)mentioning

confidence: 99%

The State-of-the-Art Sensing Techniques in Human Activity Recognition: A Survey

Bian

Liu

Zhou

et al. 2022

Sensors

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Human activity recognition (HAR) has become an intensive research topic in the past decade because of the pervasive user scenarios and the overwhelming development of advanced algorithms and novel sensing approaches. Previous HAR-related sensing surveys were primarily focused on either a specific branch such as wearable sensing and video-based sensing or a full-stack presentation of both sensing and data processing techniques, resulting in weak focus on HAR-related sensing techniques. This work tries to present a thorough, in-depth survey on the state-of-the-art sensing modalities in HAR tasks to supply a solid understanding of the variant sensing principles for younger researchers of the community. First, we categorized the HAR-related sensing modalities into five classes: mechanical kinematic sensing, field-based sensing, wave-based sensing, physiological sensing, and hybrid/others. Specific sensing modalities are then presented in each category, and a thorough description of the sensing tricks and the latest related works were given. We also discussed the strengths and weaknesses of each modality across the categorization so that newcomers could have a better overview of the characteristics of each sensing modality for HAR tasks and choose the proper approaches for their specific application. Finally, we summarized the presented sensing techniques with a comparison concerning selected performance metrics and proposed a few outlooks on the future sensing techniques used for HAR tasks.

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Section: Object Of Human Activities Recognition (Har)mentioning

confidence: 99%

The State-of-the-Art Sensing Techniques in Human Activity Recognition: A Survey

Bian

Liu

Zhou

et al. 2022

Sensors

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“…Low level fast reactive control has been explored for integration with robot manipulators in proximity perception ( Mayton et al, 20102010 ; Navarro et al, 2021 ) as well as visual servoing ( Espiau et al, 1992 ).…”

Section: Existing Approaches In Roboticsmentioning

confidence: 99%

Lessons for Robotics From the Control Architecture of the Octopus

2022

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Biological and artificial agents are faced with many of the same computational and mechanical problems, thus strategies evolved in the biological realm can serve as inspiration for robotic development. The octopus in particular represents an attractive model for biologically-inspired robotic design, as has been recognized for the emerging field of soft robotics. Conventional global planning-based approaches to controlling the large number of degrees of freedom in an octopus arm would be computationally intractable. Instead, the octopus appears to exploit a distributed control architecture that enables effective and computationally efficient arm control. Here we will describe the neuroanatomical organization of the octopus peripheral nervous system and discuss how this distributed neural network is specialized for effectively mediating decisions made by the central brain and the continuous actuation of limbs possessing an extremely large number of degrees of freedom. We propose top-down and bottom-up control strategies that we hypothesize the octopus employs in the control of its soft body. We suggest that these strategies can serve as useful elements in the design and development of soft-bodied robotics.

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“…With regard to the perception in a 3D space without contact force, the traditional approaches involving techniques of laser ( 34 ), infrared ( 35 ), ultrasound ( 36 ), etc. ( 37 ), are adopted. However, their further application in HMC is restricted by disadvantages such as complex device layouts, hard-to-integrate properties, and high cost.…”

Section: Introductionmentioning

confidence: 99%

An artificial remote tactile device with 3D depth-of-field sensation

Zhu

Yelemulati

et al. 2022

Sci. Adv.

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Flexible tactile neuromorphic devices are becoming important as the impetus for the development of human-machine collaboration. However, accomplishing and further transcending human intelligence with artificial intelligence still confront many barriers. Here, we present a self-powered stretchable three-dimensional remote tactile device (3D-RTD) that performs the depth-of-field (DOF) sensation of external mechanical motions through a conductive-dielectric heterogeneous structure. The device can build a logic relationship precisely between DOF motions of an external active object and sensory potential signals of bipolar sign, frequency, amplitude, etc. The sensory mechanism is revealed on the basis of the electrostatic theory and multiphysics modeling, and the performance is verified via an artificial-biological hybrid system with micro/macroscale interaction. The feasibility of the 3D-RTD as an obstacle-avoidance patch for the blind is systematically demonstrated with a rat. This work paves the way for multimodal neuromorphic device that transcends the function of a biological one toward a new modality for brain-like intelligence.

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Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

Cited by 56 publications

References 137 publications

The State-of-the-Art Sensing Techniques in Human Activity Recognition: A Survey

The State-of-the-Art Sensing Techniques in Human Activity Recognition: A Survey

Lessons for Robotics From the Control Architecture of the Octopus

An artificial remote tactile device with 3D depth-of-field sensation

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