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.
Type de document :
Communication dans un congrès
IROS: Intelligent RObots and Systems, Oct 2012, Vilamoura, Algarve, Portugal. IEEE/RSJ, pp.5137-5144, 2012, 〈http://www.iros2012.org/site/〉. 〈10.1109/IROS.2012.6385721〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00798593
Contributeur : François Keith <>
Soumis le : vendredi 8 mars 2013 - 23:05:37
Dernière modification le : jeudi 11 janvier 2018 - 06:27:07

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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. IEEE/RSJ, pp.5137-5144, 2012, 〈http://www.iros2012.org/site/〉. 〈10.1109/IROS.2012.6385721〉. 〈lirmm-00798593〉

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