Detecting and Classifying Human Touches in a Social Robot Through Acoustic Sensing and Machine Learning

Sensors
Fernando Alonso-MartínMiguel A Salichs

Abstract

An important aspect in Human-Robot Interaction is responding to different kinds of touch stimuli. To date, several technologies have been explored to determine how a touch is perceived by a social robot, usually placing a large number of sensors throughout the robot's shell. In this work, we introduce a novel approach, where the audio acquired from contact microphones located in the robot's shell is processed using machine learning techniques to distinguish between different types of touches. The system is able to determine when the robot is touched (touch detection), and to ascertain the kind of touch performed among a set of possibilities: stroke, tap, slap, and tickle (touch classification). This proposal is cost-effective since just a few microphones are able to cover the whole robot's shell since a single microphone is enough to cover each solid part of the robot. Besides, it is easy to install and configure as it just requires a contact surface to attach the microphone to the robot's shell and plug it into the robot's computer. Results show the high accuracy scores in touch gesture recognition. The testing phase revealed that Logistic Model Trees achieved the best performance, with an F-score of 0.81. The dataset was buil...Continue Reading

References

Jun 1, 1995·The Journal of Social Psychology·M S RemlandH Brinkman
Mar 10, 2007·Genetic, Social, and General Psychology Monographs·Matthew J HertensteinRachel M Holmes
Jan 1, 1997·IEEE Transactions on Neural Networks·S LawrenceA D Back
Nov 5, 2013·IEEE ... International Conference on Rehabilitation Robotics : [proceedings]·Selma ŠabanovićLesa Huber
Nov 19, 2013·Sensors·Fernando Alonso-MartínMiguel A Salichs
Oct 28, 2015·Proceedings of the National Academy of Sciences of the United States of America·Juulia T SuvilehtoLauri Nummenmaa

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Methods Mentioned

BETA
feature collection
feature extraction

Software Mentioned

AutoWeka
Stane
Weka
Tapback
Maggie
CNN
WENDY
GEVA
LMT
DL4J

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