In this work, a large-scale tactile detection system is proposed, whose development is based on a soft structure using Machine Learning and Computer Vision algorithms to map the surface of a forearm sleeve. The current application has a cylindrical design, whose dimensions intend to be like a human forearm or bicep. The model was developed assuming that deformations occur only at one section at a time. The goal for this system is to be coupled with the CHARMIE robot, a collaborative robot for domestic and medical environments. This system allows the contact detection of the entire forearm surface enabling interaction between a Human Being and a robot. A matrix with sections can be configured to present certain functionalities, allowing CHARMIE to detect contact in a particular section, and thus perform a specific behaviour. After building the dataset, an Artificial Neural Network (ANN) was created. This network was called Section Detection Network (SDN), and through Supervised Learning, a model was created to predict the contact location. Furthermore, Stratified K-Fold Cross Validation (SKFCV) was used to divide the dataset. All these steps resulted in Neural Network with a test data accuracy higher than 80%. Regarding the real-time evaluation, a graphical interface was structured to demonstrate the predicted class and the corresponding probability. This research concluded that the method described has enormous potential to be used as a tool for service robots allowing enhanced human-robot interaction. ; This work has been supported by FCT—Fundação para a Ciência e Tecnologia within the R&D Units Project Scope: UIBD/00319/2020. In addition, this work has also been funded through a doctoral scholarship from the Portuguese Foundation for Science and Technology (Fundação para a Ciência e Tecnologia) [grant number SFRH/BD/06944/2020], with funds from the Portuguese Ministry of Science, Technology and Higher Education and the European Social Fund through the Programa Operacional do Capital Humano (POCH).
Large-scale tactile detection system based on supervised learning for service robots human interaction
2023-01-11
825
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Integrated Tactile Sensor for Robots
NTRS | 1984
|Tactile Interaction between Human and Robot
Springer Verlag | 2004
|