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

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 robo...

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Published in2012 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 5137 - 5144
Main Authors Dumora, J., Geffard, F., Bidard, C., Brouillet, T., Fraisse, P.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2012
Subjects
Current measurement
Displacement measurement
Force
Humans
Robot kinematics
Torque
Online AccessGet full text
ISBN1467317373
9781467317375
ISSN2153-0858
DOI10.1109/IROS.2012.6385721

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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.
AbstractList 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.
Author Dumora, J.
Geffard, F.
Bidard, C.
Fraisse, P.
Brouillet, T.
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  fullname: Fraisse, P.
  email: fraisse@lirmm.fr
  organization: LIRMM, Univ. Montpellier 2, Montpellier, France
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Snippet 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...
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StartPage 5137
SubjectTerms Current measurement
Displacement measurement
Force
Humans
Robot kinematics
Torque
Title Experimental study on haptic communication of a human in a shared human-robot collaborative task
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