Real-time social touch gesture recognition for sensate robots
Name
Knight-2009-Real-time social touch gesture recognition for sensate robots.pdf
Size
1.95 MB
Format
Adobe PDF
Checksum (MD5)
cd38325b0223d948d4b0fa9d4349137c
Author(s)
Breazeal, Cynthia Lynn
Wang, Yi
Knight, Heather
Toscano, Robert
Stiehl, Walter D.
Chang, Angela
Date Issued
December 2009
Journal
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009
Publisher
Institute of Electrical and Electronics Engineers
Citation
Knight, H. et al. “Real-time social touch gesture recognition for sensate robots.” Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on. 2009. 3715-3720. ©2009 Institute of Electrical and Electronics Engineers.
Version
Final published version
Abstract
This paper describes the hardware and algorithms for a realtime social touch gesture recognition system. Early experiments involve a sensate bear test-rig with full body touch sensing, sensor visualization and gesture recognition capabilities. Algorithms are based on real humans interacting with a plush bear. In developing a preliminary gesture library with thirteen symbolic gestures and eight touch subtypes, we have taken the first steps toward a robotic touch API, showing that the huggable robot behavior system will be able to stream currently active sensors to detect regional social gestures and local sub-gestures in realtime. The system demonstrates the infrastructure to detect three types of touching: social touch, local touch, and sensor-level touch.
MIT Department
Massachusetts Institute of Technology. Media Laboratory
Program in Media Arts and Sciences (Massachusetts Institute of Technology)
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2009.5354169
