Alle Publikationen
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2016
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(2016): Vibrotactile feedback for conveying object shape information as perceived by artificial sensing of robotic arm. In: Cognitive Neurodynamics 10 (4), S. 327-338. DOI: 10.1007/s11571-016-9386-0
DOI: https://doi.org/10.1007/s11571-016-9386-0 Abstract: This work is a preliminary study towards developing an alternative communication channel for conveying shape information to aid in recognition of items when tactile perception is hindered. Tactile data, acquired during object exploration by sensor fitted robot arm, are processed to recognize four basic geometric shapes. Patterns representing each shape, classified from tactile data, are generated using micro-controller-driven vibration motors which vibrotactually stimulate users to convey the particular shape information. These motors are attached on the subject’s arm and their psychological (verbal) responses are recorded to assess the competence of the system to convey shape information to the user in form of vibrotactile stimulations. Object shapes are classified from tactile data with an average accuracy of 95.21 %. Three successive sessions of shape recognition from vibrotactile pattern depicted learning of the stimulus from subjects’ psychological response which increased from 75 to 95 %. This observation substantiates the learning of vibrotactile stimulation in user over the sessions which in turn increase the system efficacy. The tactile sensing module and vibrotactile pattern generating module are integrated to complete the system whose operation is analysed in real-time. Thus, the work demonstrates a successful implementation of the complete schema of artificial tactile sensing system for object-shape recognition through vibrotactile stimulations. (PsycINFO Database Record (c) 2016 APA, all rights reserved)
2014
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(2014): An affordance sensitive system for robot to human object handover. In: International Journal of Social Robotics 6 (4), S. 653-666. DOI: 10.1007/s12369-014-0241-3
DOI: https://doi.org/10.1007/s12369-014-0241-3 Abstract: One of the most important characteristics that needs to be taken into account while designing advanced human-robot interaction systems is the ability of the robot to behave in a socially acceptable way that is comfortable for humans. This paper presents a novel system for robot to human object handover that maximizes user’s convenience while receiving the object. The object is delivered to the receiving partner such that the most appropriate part is oriented towards him/her. The system has been developed supporting all the necessary phases of the handover task, including object recognition, people detection, robot motion planning, and automatic detection of user’s grasp. Moreover, voice recognition and text-to-speech have been integrated to enable natural object selection in environments that include multiple objects. The experimental setup consists of a six degree of freedom robot arm equipped with a two-finger gripper and an eye-in-hand laser scanner for object recognition, as well as a fixed range sensor for people and grasp detection. A user study has been conducted to assess the usability of the system and verify whether novice users can successfully accomplish a handover task with the system. The user study has confirmed that the proposed solution allows a more comfortable handover than a system disregarding object orientation. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
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