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

Abstract : 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.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00798593
Contributor : François Keith <>
Submitted on : Friday, March 8, 2013 - 11:05:37 PM
Last modification on : Thursday, June 6, 2019 - 2:36:52 PM

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Julie Dumora, Franck Geffard, Catherine Bidard, Thibault Brouillet, Philippe Fraisse. Experimental study on haptic communication of a human in a shared human-robot collaborative task. IROS: Intelligent RObots and Systems, Oct 2012, Vilamoura, Algarve, Portugal. pp.5137-5144, ⟨10.1109/IROS.2012.6385721⟩. ⟨lirmm-00798593⟩

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