To obtain a fluent human-robot collaboration, reciprocal awareness is fundamental. In this paper, we propose to achieve it by creating a haptic connection between the human operator and the collaborative robot. Data coming from a wearable skin vibration sensor are used by the robot to recognize human actions, and vibrotactile signals are used to inform the human about the correct recognition of her/his actions. It is shown that the proposed communication paradigm, based on shared haptic perception, allows to improve cycle time performance in a complex human-robot collaborative task.
CITATION STYLE
Katayama, K., Pozzi, M., Tanaka, Y., Minamizawa, K., & Prattichizzo, D. (2020). Shared haptic perception for human-robot collaboration. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 12272 LNCS, pp. 536–544). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-58147-3_59
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