Physical Human – Robot Interaction
نویسندگان
چکیده
C lose physical interaction between robots and humans is a particularly challenging aspect of robot development. For successful interaction and cooperation, the robot must have the ability to adapt its behavior to the human counterpart. Based on our earlier work, we present and evaluate a computationally efficient machine learning algorithm that is well suited for such close-contact interaction scenarios. We show that this algorithm helps to improve the quality of the interaction between a robot and a human caregiver. To this end, we present two human-in-the-loop learning scenarios that are inspired by human parenting behavior, namely, an assisted standing-up task and an assisted walking task.
منابع مشابه
An Experimental Study on Blinking and Eye Movement Detection via EEG Signals for Human-Robot Interaction Purposes Based on a Spherical 2-DOF Parallel Robot
Blinking and eye movement are one of the most important abilities that most people have, even people with spinal cord problem. By using this ability these people could handle some of their activities such as moving their wheelchair without the help of others. One of the most important fields in Human-Robot Interaction is the development of artificial limbs working with brain signals. The purpos...
متن کاملDesign and development of ShrewdShoe, a smart pressure sensitive wearable platform
This study introduces a wearable in-shoe system for real-time monitoring and measurement of the plantar pressure distribution of the foot using eleven sensing elements. The sensing elements utilized in ShrewdShoe have been designed in an innovative way, they are based on a barometric pressure sensor covered with a silicon coating. The presented sensing element has great linearity up to 300...
متن کاملWorkspace Boundary Avoidance in Robot Teaching by Demonstration Using Fuzzy Impedance Control
The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...
متن کاملDesign Concepts for Physical Human-Robot Cooperation
Robots capable of providing physical assistance to a human partner face a wide area of application scenarios ranging from manufacturing assistance, physical rehabilitation to mobility aids for the elderly. Yet, the physical nature of the coupling present in cooperative manipulation tasks and the uncertain contribution of the human partner make physical robotic assistance a challenging topic of ...
متن کاملLearning Robot Objectives from Physical Human Interaction
When humans and robots work in close proximity, physical interaction is inevitable. Traditionally, robots treat physical interaction as a disturbance, and resume their original behavior after the interaction ends. In contrast, we argue that physical human interaction is informative: it is useful information about how the robot should be doing its task. We formalize learning from such interactio...
متن کاملHuman-aware natural handshaking using tactile sensors for Vizzy, a social robot
Handshaking is a fundamental part of human physical interaction that is transversal to various cultural backgrounds. It is also a very challenging task in the field of Physical Human-Robot Interaction (pHRI), requiring compliant force control in order to plan for the arm’s motion and a confident but at the same time pleasant grasp of the human user’s hand based on tactile sensing. In this paper...
متن کامل