能動的な振動入力による把持物体推定

抄録

In this research, we propose a method for estimating the grasped object by inputting vibration actively. A vibration actuator and a contact microphone are mounted on thumb and index finger respectively, and the grasped object is estimated by obtaining the vibration through the object. A power spectrum of the vibration is calculated when a user grasps an object, and dimensional compression is performed for calculating the feature value. Support vector machine is employed for estimating the grasped object, and high recognition rates were confirmed through two evaluation experiments.