DC Field | Value | Language |
---|---|---|
dc.contributor.author | Yang, Min Jin | ko |
dc.contributor.author | Park, Kyungseo | ko |
dc.contributor.author | Kim, Jung | ko |
dc.date.accessioned | 2023-09-07T02:02:08Z | - |
dc.date.available | 2023-09-07T02:02:08Z | - |
dc.date.created | 2023-09-07 | - |
dc.date.issued | 2021-05-30 | - |
dc.identifier.citation | 2021 IEEE International Conference on Robotics and Automation (ICRA), pp.3248 - 3254 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10203/312295 | - |
dc.description.abstract | A human can socially interact in a non-verbal manner by understanding the intention behind a tactile stimulus. Patting on one's back is one of tactile communications, which is considered as a sign of encouragement in most cultures. The majority of such tactile communication is carried out by a dynamic tactile on large passive body parts and differently interpreted by how and where on the body is touched. Thus any robotic system that physically interacts with a human requires a dynamic tactile sensor for further social interaction. This paper presents a large dynamic tactile sensor that could cover a robot's passive body parts using a few sparsely distributed microphones to cover a large area in an efficient manner. A porous structured mesh, neoprene, and loop fabric are used to form a sensor's skin that could well generate and transfer a signal to distributed microphones when a touch is introduced. TDOA source localisation algorithms are implemented to find the touch point locating in between the distributed microphones, and a simple convolutional neural network is trained to classify a type of the touch. A localising performance is qualitatively achieved in a testbed of the sensor and applied to a mannequin's back to show the applicability, which classified a touch into six classes with an accuracy of 88 %. | - |
dc.language | English | - |
dc.publisher | IEEE | - |
dc.title | A Large Area Robotic Skin with Sparsely Embedded Microphones for Human-Robot Tactile Communication | - |
dc.type | Conference | - |
dc.identifier.wosid | 000765738802093 | - |
dc.identifier.scopusid | 2-s2.0-85125476182 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 3248 | - |
dc.citation.endingpage | 3254 | - |
dc.citation.publicationname | 2021 IEEE International Conference on Robotics and Automation (ICRA) | - |
dc.identifier.conferencecountry | CC | - |
dc.identifier.conferencelocation | Xi'an | - |
dc.identifier.doi | 10.1109/icra48506.2021.9561898 | - |
dc.contributor.localauthor | Kim, Jung | - |
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