Recognition of grasping motion based on modal space haptic information using DP pattern-matching algorithm

Takahiro Nozaki, Takahiro Mizoguchi, Yuki Saito, Daisuke Yashiro, Kouhei Ohnishi

研究成果: Article査読

20 被引用数 (Scopus)

抄録

Human motion recognition systems play an important role in improving the ability of robots to support human life. This paper proposes a novel motion recognition method based on haptic data (i.e., position and force information). First, haptic data are obtained using a bilateral control system. Second, the haptic data are divided into action components, using modal transformation. Finally, both the position and the force information in each action component are compared with recorded data. A dynamic programming pattern-matching algorithm is used to recognize the desired motion, and the validity of the proposed method is verified experimentally. In the experiments, the proposed method is applied to a grasping motion. The proposed method can trigger scaled bilateral control and assist the operator in real time.

本文言語English
論文番号6376180
ページ(範囲)2043-2051
ページ数9
ジャーナルIEEE Transactions on Industrial Informatics
9
4
DOI
出版ステータスPublished - 2013

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 情報システム
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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