Abstract
The investigation of human perception and movement kinematics during manipulation tasks provides insights that can be applied in the design of robotic systems in order to perform human-like manipulations in different contexts and with different performance requirements. In this paper we investigate control in a motor task, in which a tool is moved vertically until it touches a support surface. We evaluate how acoustic and haptic sensory information generated at the moment of contact modulates the kinematic parameters of the movement. Experimental results show differences in the achieved motor control precision and adaptation rate across conditions. We describe how the experimental results can be used in robotics applications in the fields of unsupervised learning, supervised learning from human demonstrators and teleoperations.
Highlights
A key challenge for future robotics is the mastering of everyday activities (Beetz et al, 2015)
The low contact velocity (CV) values observed in the H and haptic-acoustic condition (HA) conditions suggest that the sensory feedback provided was impeding participants to increase the velocity regardless of the LOW linguistic feedback provided
In this type of motion planning the motions of the robot gripper or tool are specified in the Cartesian space, as opposed to the use of symbolic instructions (Spiers et al, 2016)
Summary
A key challenge for future robotics is the mastering of everyday activities (Beetz et al, 2015). The objects and materials involved may have various properties, for example being breakable, like expensive wine glasses, or they may be deformable, like dough, or elastic, like plastic bottles. This implies that a lot can go wrong, if an agent does not apply the appropriate forces, for example. Contact events generate characteristic haptic, visual, and auditory information that can help in learning how to deal with tools and objects. We measured how subjects can learn to control the movement of a tool (spoon) toward an object with a desired contact force, based on haptic and auditory information about the contact event
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