Real-time social touch gesture recognition for sensate robots
Author(s)Breazeal, Cynthia Lynn; Wang, Yi; Knight, Heather; Toscano, Robert; Stiehl, Walter D.; Chang, Angela; ... Show more Show less
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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.
DepartmentMassachusetts Institute of Technology. Media Laboratory; Program in Media Arts and Sciences (Massachusetts Institute of Technology)
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009
Institute of Electrical and Electronics Engineers
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.
Final published version
INSPEC Accession Number: 11009827