Experimental study on haptic communication of a human in a shared human-robot collaborative task
(IROS’12)
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.
- J. Dumora, F. Geffard, C. Bidard, T. Brouillet, and P. Fraisse. Experimental study on haptic communication of a human in a shared human-robot collaborative task. In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, oct 2012.
[Bibtex]@INPROCEEDINGS{2012-iros-jd, author={Dumora, J. and Geffard, F. and Bidard, C. and Brouillet, T. and Fraisse, P.}, booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on}, title={Experimental study on haptic communication of a human in a shared human-robot collaborative task}, year={2012}, month={oct}, volume={}, number={}, pages={}, keywords={iros}, doi={}, ISSN={}}