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http://dx.doi.org/10.18419/opus-14185
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DC Element | Wert | Sprache |
---|---|---|
dc.contributor.author | Burns, Rachael Bevill | - |
dc.contributor.author | Lee, Hyosang | - |
dc.contributor.author | Seifi, Hasti | - |
dc.contributor.author | Faulkner, Robert | - |
dc.contributor.author | Kuchenbecker, Katherine J. | - |
dc.date.accessioned | 2024-04-06T11:01:37Z | - |
dc.date.available | 2024-04-06T11:01:37Z | - |
dc.date.issued | 2022 | de |
dc.identifier.issn | 2296-9144 | - |
dc.identifier.other | 1887219978 | - |
dc.identifier.uri | http://nbn-resolving.de/urn:nbn:de:bsz:93-opus-ds-142043 | de |
dc.identifier.uri | http://elib.uni-stuttgart.de/handle/11682/14204 | - |
dc.identifier.uri | http://dx.doi.org/10.18419/opus-14185 | - |
dc.description.abstract | Social touch is essential to everyday interactions, but current socially assistive robots have limited touch-perception capabilities. Rather than build entirely new robotic systems, we propose to augment existing rigid-bodied robots with an external touch-perception system. This practical approach can enable researchers and caregivers to continue to use robotic technology they have already purchased and learned about, but with a myriad of new social-touch interactions possible. This paper presents a low-cost, easy-to-build, soft tactile-perception system that we created for the NAO robot, as well as participants’ feedback on touching this system. We installed four of our fabric-and-foam-based resistive sensors on the curved surfaces of a NAO’s left arm, including its hand, lower arm, upper arm, and shoulder. Fifteen adults then performed five types of affective touch-communication gestures (hitting, poking, squeezing, stroking, and tickling) at two force intensities (gentle and energetic) on the four sensor locations; we share this dataset of four time-varying resistances, our sensor patterns, and a characterization of the sensors’ physical performance. After training, a gesture-classification algorithm based on a random forest identified the correct combined touch gesture and force intensity on windows of held-out test data with an average accuracy of 74.1%, which is more than eight times better than chance. Participants rated the sensor-equipped arm as pleasant to touch and liked the robot’s presence significantly more after touch interactions. Our promising results show that this type of tactile-perception system can detect necessary social-touch communication cues from users, can be tailored to a variety of robot body parts, and can provide HRI researchers with the tools needed to implement social touch in their own systems. | en |
dc.description.sponsorship | Deutsche Forschungsgemeinschaft | de |
dc.language.iso | en | de |
dc.relation.uri | doi:10.3389/frobt.2022.840335 | de |
dc.rights | info:eu-repo/semantics/openAccess | de |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | de |
dc.subject.ddc | 004 | de |
dc.title | Endowing a NAO robot with practical social-touch perception | en |
dc.type | article | de |
dc.date.updated | 2023-11-14T02:08:56Z | - |
ubs.fakultaet | Informatik, Elektrotechnik und Informationstechnik | de |
ubs.fakultaet | Externe wissenschaftliche Einrichtungen | de |
ubs.fakultaet | Fakultätsübergreifend / Sonstige Einrichtung | de |
ubs.institut | Institut für Intelligente Sensorik und Theoretische Elektrotechnik | de |
ubs.institut | Max-Planck-Institut für Intelligente Systeme | de |
ubs.institut | Fakultätsübergreifend / Sonstige Einrichtung | de |
ubs.publikation.seiten | 17 | de |
ubs.publikation.source | Frontiers in robotics and AI 9 (2022), No. 840335 | de |
ubs.publikation.typ | Zeitschriftenartikel | de |
Enthalten in den Sammlungen: | 05 Fakultät Informatik, Elektrotechnik und Informationstechnik |
Dateien zu dieser Ressource:
Datei | Beschreibung | Größe | Format | |
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frobt-09-840335.pdf | 2,61 MB | Adobe PDF | Öffnen/Anzeigen |
Diese Ressource wurde unter folgender Copyright-Bestimmung veröffentlicht: Lizenz von Creative Commons