Recognition of human combined motion from haptic information using similarly structured master and slave robot hands

Takahiro Nozaki, Takahiro Mizoguchi, Yusuke Suzuki, Daisuke Yashiro, Kouhei Ohnishi

Research output: Contribution to journalArticle

Abstract

In this paper, a motion recognition method that uses haptic information of the human hand is proposed. The haptic information is measured by master and slave robot hands. The robot has five degrees of freedom, and bilateral control of the robot is implemented. The operator wears the master robot hand and manipulates an object through the slave robot hand. A motion database is prepared, containing haptic information in the form of reference vectors for eight kinds of human motion. The motion database utilizes the cosine similarity to distinguish different human motions on the basis of the haptic information acquired by the master robot. Expansion and contraction of the time axes are corrected by dynamic programming matching, and combination motion is then recognized. The validity of the proposed method is experimentally confirmed.

Original languageEnglish
Pages (from-to)15-23
Number of pages9
JournalElectronics and Communications in Japan
Volume96
Issue number12
DOIs
Publication statusPublished - 2013 Dec

Fingerprint

end effectors
Haptics
End effectors
Robot
Robots
Motion
robots
dynamic programming
Dynamic programming
contraction
Dynamic Programming
Human
Contraction
degrees of freedom
Degree of freedom
Wear of materials
operators
expansion
Operator

Keywords

  • bilateral control
  • cosine similarity
  • DP matching
  • haptics
  • motion recognition
  • robot hand

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Networks and Communications
  • Physics and Astronomy(all)
  • Signal Processing
  • Applied Mathematics

Cite this

Recognition of human combined motion from haptic information using similarly structured master and slave robot hands. / Nozaki, Takahiro; Mizoguchi, Takahiro; Suzuki, Yusuke; Yashiro, Daisuke; Ohnishi, Kouhei.

In: Electronics and Communications in Japan, Vol. 96, No. 12, 12.2013, p. 15-23.

Research output: Contribution to journalArticle

Nozaki, Takahiro ; Mizoguchi, Takahiro ; Suzuki, Yusuke ; Yashiro, Daisuke ; Ohnishi, Kouhei. / Recognition of human combined motion from haptic information using similarly structured master and slave robot hands. In: Electronics and Communications in Japan. 2013 ; Vol. 96, No. 12. pp. 15-23.
@article{35a3382005314faaa8670cff44bef631,
title = "Recognition of human combined motion from haptic information using similarly structured master and slave robot hands",
abstract = "In this paper, a motion recognition method that uses haptic information of the human hand is proposed. The haptic information is measured by master and slave robot hands. The robot has five degrees of freedom, and bilateral control of the robot is implemented. The operator wears the master robot hand and manipulates an object through the slave robot hand. A motion database is prepared, containing haptic information in the form of reference vectors for eight kinds of human motion. The motion database utilizes the cosine similarity to distinguish different human motions on the basis of the haptic information acquired by the master robot. Expansion and contraction of the time axes are corrected by dynamic programming matching, and combination motion is then recognized. The validity of the proposed method is experimentally confirmed.",
keywords = "bilateral control, cosine similarity, DP matching, haptics, motion recognition, robot hand",
author = "Takahiro Nozaki and Takahiro Mizoguchi and Yusuke Suzuki and Daisuke Yashiro and Kouhei Ohnishi",
year = "2013",
month = "12",
doi = "10.1002/ecj.11566",
language = "English",
volume = "96",
pages = "15--23",
journal = "Electronics and Communications in Japan",
issn = "1942-9533",
publisher = "Scripta Technica",
number = "12",

}

TY - JOUR

T1 - Recognition of human combined motion from haptic information using similarly structured master and slave robot hands

AU - Nozaki, Takahiro

AU - Mizoguchi, Takahiro

AU - Suzuki, Yusuke

AU - Yashiro, Daisuke

AU - Ohnishi, Kouhei

PY - 2013/12

Y1 - 2013/12

N2 - In this paper, a motion recognition method that uses haptic information of the human hand is proposed. The haptic information is measured by master and slave robot hands. The robot has five degrees of freedom, and bilateral control of the robot is implemented. The operator wears the master robot hand and manipulates an object through the slave robot hand. A motion database is prepared, containing haptic information in the form of reference vectors for eight kinds of human motion. The motion database utilizes the cosine similarity to distinguish different human motions on the basis of the haptic information acquired by the master robot. Expansion and contraction of the time axes are corrected by dynamic programming matching, and combination motion is then recognized. The validity of the proposed method is experimentally confirmed.

AB - In this paper, a motion recognition method that uses haptic information of the human hand is proposed. The haptic information is measured by master and slave robot hands. The robot has five degrees of freedom, and bilateral control of the robot is implemented. The operator wears the master robot hand and manipulates an object through the slave robot hand. A motion database is prepared, containing haptic information in the form of reference vectors for eight kinds of human motion. The motion database utilizes the cosine similarity to distinguish different human motions on the basis of the haptic information acquired by the master robot. Expansion and contraction of the time axes are corrected by dynamic programming matching, and combination motion is then recognized. The validity of the proposed method is experimentally confirmed.

KW - bilateral control

KW - cosine similarity

KW - DP matching

KW - haptics

KW - motion recognition

KW - robot hand

UR - http://www.scopus.com/inward/record.url?scp=84887706300&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84887706300&partnerID=8YFLogxK

U2 - 10.1002/ecj.11566

DO - 10.1002/ecj.11566

M3 - Article

AN - SCOPUS:84887706300

VL - 96

SP - 15

EP - 23

JO - Electronics and Communications in Japan

JF - Electronics and Communications in Japan

SN - 1942-9533

IS - 12

ER -