Real-time social touch gesture recognition for sensate robots

Knight, Heather; Toscano, Robert Lopez; Stiehl, Walter Dan; Chang, Angela; Wang, Yi; Breazeal, Cynthia

doi:10.1109/iros.2009.5354169

Cited by 28 publications

(33 citation statements)

References 12 publications

(17 reference statements)

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“…Although most robot pets such as Paro (Wada and Shibata, 2007), AIBO (Fujita, 2001), Probo (Saldien et al, 2010), Hasbro's companion pets, 1 and JustoCat 2 are equipped with some touch sensors, for a more natural interaction animallike robots should be able to automatically understand and respond to different types of touch and interpret those touches within context. In an effort to advance the automatic understanding of social touch for robots, research has been conducted on the recognition of touch gestures (e.g., stroke, pat, and tickle), emotions (e.g., happiness, fear, and sadness), and social messages (e.g., greeting, attentiongetting, and showing affection) from pressure sensor data (Knight et al, 2009;Silvera-Tawil et al, 2012Altun and MacLean, 2015;Jung et al, 2015Jung et al, , 2016.…”

Section: Touch Interaction With Animallike Robot Companionsmentioning

confidence: 99%

“…For instance, the Huggable robotic teddy bear has its own full-body somatosensory system to sense and process human touch (Stiehl et al, 2005;Knight et al, 2009). Another example is the Haptic Creature that is a zoomorphic lap pet that can sense human touch all over its body and expresses itself by purring, simulated breathing, and stiffening of the ears (Yohanan and MacLean, 2012;Altun and MacLean, 2015;Sefidgar et al, 2016).…”

Section: Touch Interaction With Animallike Robot Companionsmentioning

confidence: 99%

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An Exploration of the Benefits of an Animallike Robot Companion with More Advanced Touch Interaction Capabilities for Dementia Care

2017

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Animallike robot companions such as robotic seal Paro are increasingly used in dementia care due to the positive effects that interaction with these robots can have on the well-being of these patients. Touch is one of the most important interaction modalities for patients with dementia and can be a natural way to interact with animallike robots. To advance the development of animallike robots, we explored in what ways people with dementia could benefit from interaction with an animallike robot with more advanced touch recognition capabilities and which touch gestures would be important in their interaction with Paro. In addition, we explored which other target groups might benefit from interaction with animallike robots with more advanced interaction capabilities. In this study, we administered a questionnaire and conducted interviews with two groups of health-care providers who all worked in a geriatric psychiatry department. One group used Paro in their work (i.e., the expert group; n = 5) while the other group had no experience with the use of animallike robot (i.e., the layman group; n = 4). The results showed that health-care providers perceived Paro as an effective intervention to improve the well-being of people with dementia. Examples of usages for Paro that were mentioned were providing distraction, interrupting problematic behaviors, and stimulating communication. Furthermore, the care providers indicated that people with dementia (would) use mostly positive forms of touch and speech to interact with Paro. Paro's auditory responses were criticized because they can overstimulate the patients. In addition, the care providers argued that social interactions with Paro are currently limited and therefore the robot does not meet the needs of a broader audience such as healthy elderly people who still live in their own homes. The development of robot pets with more advanced social capabilities such as touch and speech recognition might result in more intelligent interactions, which could help to better adapt to the needs of people with dementia and could make interactions more interesting for a broader audience. Moreover, the robot's response modalities and its appearance should match the needs of to the target group.

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Section: Touch Interaction With Animallike Robot Companionsmentioning

confidence: 99%

Section: Touch Interaction With Animallike Robot Companionsmentioning

confidence: 99%

An Exploration of the Benefits of an Animallike Robot Companion with More Advanced Touch Interaction Capabilities for Dementia Care

2017

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“…[5]). Some studies focused on the location of the touch rather than the touch gesture, such as distinguishing between 'head-pat' and 'foot-rub' [27]. While information on body location can enhance touch recognition, Silvera-Tawil et al showed that comparable accuracies can be achieved by limiting the touch location to a single arm [32].…”

Section: Touch Recognitionmentioning

confidence: 99%

“…'Normal' was defined as: the default/ regular (7), without thinking (4) and neutral (3). (32) 172 (77) 100 (33) 126 (45) 95 (27) 188 (99) 131 (45) 106 (28) 95 (30) 286 (180) 116 (35) 92 (30) 96 (26) Max pressure 1774 (919) 1643 (854) …”

Section: Self Reportsmentioning

confidence: 99%

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Automatic recognition of touch gestures in the corpus of social touch

Jung

Poel

Poppe

et al. 2016

J Multimodal User Interfaces

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For an artifact such as a robot or a virtual agent to respond appropriately to human social touch behavior, it should be able to automatically detect and recognize touch. This paper describes the data collection of CoST: Corpus of Social Touch, a data set containing 7805 captures of 14 different social touch gestures. All touch gestures were performed in three variants: gentle, normal and rough on a pressure sensor grid wrapped around a mannequin arm. Recognition of these 14 gesture classes using various classifiers yielded accuracies up to 60 %; moreover, gentle gestures proved to be harder to classify than normal and rough gestures. We further investigated how different classifiers, interpersonal differences, gesture confusions and gesture variants affected the recognition accuracy. Finally, we present directions for further research to ensure proper transfer of the touch modality from interpersonal interaction to areas such as human-robot interaction (HRI).

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Affect Display Recognition Through Tactile and Visual Stimuli in a Social Robot

Marques-Villarroya¹,

Gamboa-Montero²,

Jumela-Yedra³

et al. 2022

Lecture Notes in Computer Science

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This thesis is distributed under license "Creative Commons Atributtion -NonCommercial -Non Derivatives".A toda mi familia.En primer lugar tengo que agradecer por todo el trabajo a mis directores, Fernando y José Carlos, y a mi tutor, Miguel Ángel, por toda su ayuda. Sin duda alguna, de no ser por ellos, todo este trabajo no podría haber sido posible. A Fernando quiero agradecerle su cercanía, sus ideas y todo ese dinamismo tremendamente contagioso que ha permitido que este trabajo tuviera nuevas opciones cuando parecía que habíamos tocado hueso. Quiero agradecerle las charlas, los consejos y los paseos juntos divagando sobre cualquier tema que se nos viniese a la cabeza. A José Carlos quiero darle las gracias por todo su apoyo, serenidad y buen juicio, por estar ahí siempre que lo he necesitado, y, sobre todo, por estar ahí cuando no sabía que le necesitaba. Quiero agradecerle tanto por su paciencia conmigo y su sensatez, como por los buenos momentos y las risas juntos. A Miguel Ángel tengo que agradecerle toda su vasta experiencia, por los consejos en momentos críticos del trabajo y por su guía y buen criterio. Él ha sido el que me ha brindado esta enorme oportunidad y, sobre todo, quiero agradecerle por la estabilidad y la seguridad que siempre me ha dado. Por último, aunque no forman parte 'oficial' de este trabajo, tengo que dar las gracias a María y a Álvaro también, por todo su apoyo. Siempre han estado ahí cuando he necesitado una mano o simplemente charlar, y también son una parte importante de este trabajo.I would like to switch back to English in just this paragraph to thank the Intelligent Robots and Systems Group (IRSg) for all the help they gave me during my stay in Lisbon. It was an amazing experience for me I will always remember it. I want to thank Pedro Lima for the opportunity to spend my stay there, and, above all, I would like to thank Meysam Basiri for his support and mentorship. Muito obrigado! Ahora quiero hablar de mi familia. Sin ellos, definitivamente nada de lo que he realizado hasta ahora habría sido posible. Siempre han estado entre bambalinas para levantarme cuando me he caído y para abrazarme cuando más lo he necesitado. Quiero agradecer a mis padres, a Juanjo y a Begoña, por todo el amor, el apoyo y la guía que han volcado sobre mí durante todo este tiempo. Siempre me han dado lo mejor de sí mismos y no tengo palabras para describir todo lo que les agradezco lo que han hecho y siguen haciendo por mí. A Guille, mi hermano, quiero darle las gracias también por todo su cariño, su ayuda, las risas que siempre compartimos y, sin duda alguna, por aguantarme todo este tiempo. Quiero darles las gracias a mis abuelos, a Mariano, a Julia, a Antonio y a Mercedes, por no darme otra cosa que no fuese su amor, por todo el orgullo que siempre me han demostrado y por apoyarme incondicionalmente en cada decisión que he tomado hasta ahora. No me quiero olvidar de mis tíos y de mis primos, haciendo una mención especial a mi prima Paloma, por todo el cariño que siempre me han mostrado. Por último, qui...

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Real-time social touch gesture recognition for sensate robots

Cited by 28 publications

References 12 publications

An Exploration of the Benefits of an Animallike Robot Companion with More Advanced Touch Interaction Capabilities for Dementia Care

An Exploration of the Benefits of an Animallike Robot Companion with More Advanced Touch Interaction Capabilities for Dementia Care

Automatic recognition of touch gestures in the corpus of social touch

Affect Display Recognition Through Tactile and Visual Stimuli in a Social Robot

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