Abstract
The social interaction is one of the necessary skills for social robots to better integrate into human society. However, current social robots interact mainly through audio and visual means with little reliance on haptic interaction. There still exist many obstacles for social robots to interact through touch: 1) the complex manufacturing process of the tactile sensor array is the main obstacle to lowering the cost of production; 2) the haptic interaction mode is complex and diverse. There are no social robot interaction standards and data sets for tactile interactive behavior in the public domain. In view of this, our research looks into the following aspects of tactile perception system: 1) Development of low-cost tactile sensor array, including sensor principle, simulation, manufacture, front-end electronics, examination, then applied to the social robot’s whole body; 2) Establishment of the tactile interactive model and an event-triggered perception model in a social interactive application for the social robot, then design preprocessing and classification algorithm. In this research, we use k-nearest neighbors, tree, support vector machine and other classification algorithms to classify touch behaviors into six different classes. In particular, the cosine k-nearest neighbors and quadratic support vector machine achieve an overall mean accuracy rate of more than 68%, with an individual accuracy rate of more than 80%. In short, our research provides new directions in achieving low-cost intelligent touch interaction for social robots in a real environment. The low-cost tactile sensor array solution and interactive models are expected to be applied to social robots on a large scale.
Highlights
The human skin is the largest organ in the human body
This paper looks into the research on low-cost tactile sensing arrays, related front-end electronics (FEE) modules, touch behavior as well as perceptual algorithms and modeling for breakthroughs in social robot interactions
Cosine k-nearest neighbors (KNN) and quadratic support vector machine (SVM) outperform other algorithms with overall mean accuracy rates of more than 68% and with individual recognition rates of more than 80%
Summary
The human skin is the largest organ in the human body. It may perceive temperature, pressure, abrasion, texture and other complex information. Large-area sensor arrays are not mass-produced and still in the laboratory exploration stage This limits their largescale application in tactile interaction for social robots. Low-tech method may cater to the applications in human-robot social interaction [40] This provides a new idea in the applications of tactile sensing. Due to the complexity of tactile interaction modeling, it is rare to find research reporting on the standard model of touch behavior in a real interactive environment for social robots. This paper looks into the research on low-cost tactile sensing arrays, related front-end electronics (FEE) modules, touch behavior as well as perceptual algorithms and modeling for breakthroughs in social robot interactions. The low-cost tactile sensor array (TSA) on social interaction robots is produced with acrylonitrile butadiene styrene (ABS) shell. The electrode arrays are produced by the commercialized flexible printed circuit (FPC) process, capacitor electrode plates are constructed by a combination of polyimide (PI) and copper-tin materials
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