用织物触觉传感器让机器人识别人类社交触碰
Social Gesture Recognition in spHRI: Leveraging Fabric-Based Tactile Sensing on Humanoid Robots
- 在人形机器人手臂上部署织物触觉传感阵列
- 构建多人参与的社交手势数据集并提取时序特征
- 验证织物传感器在自然人机社交触碰中的潜力
人类仅通过触摸即可传递多种信息。赋予机器人理解社交触碰的能力，可为人机沟通增添新模态。本文提出一种基于织物的大规模触觉传感器系统，安装于人形机器人手臂上，用于识别社交手势。通过多位参与者采集触觉数据，构建社交手势数据集，并提取时序特征进行分类。实验结果揭示了该系统在理解人机社交触碰方面的可行性，表明织物基传感器是推动spHRI系统实现更自然、高效交互的潜在路径。
原文摘要 · Abstract (English)
Humans are able to convey different messages using only touch. Equipping robots with the ability to understand social touch adds another modality in which humans and robots can communicate. In this paper, we present a social gesture recognition system using a fabric-based, large-scale tactile sensor placed onto the arms of a humanoid robot. We built a social gesture dataset using multiple participants and extracted temporal features for classification. By collecting tactile data on a humanoid robot, our system provides insights into human-robot social touch, and displays that the use of fabric based sensors could be a potential way of advancing the development of spHRI systems for more natural and effective communication.
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