触覚情報の特徴量抽出に基づくロボットの命令認識

抄録

In view of safety issues, haptic sensing is inevitable for human support robots. Furthermore, haptic communication based on haptic sensing technology has high potential as a part of multi-modal communication. This paper therefore proposes a method of command recognition based on haptic interfaces. When an operator runs a finger across the haptic interface, the command is recognized based on some feature quantities derived from the contact trajectory. The command recognition method accomplishes a reliable emergency stop function by utilizing force information. Some experimental results show that the efficiency of robot operation is enhanced since multi-dimensional information can be transmitted by a single intuitive motion.