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An HMM approach to realistic haptic human-robot interaction

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3 Author(s)
Zheng Wang ; Inst. of Autom. Control Eng., Tech. Univ. Munchen, Munich ; Peer, A. ; Buss, M.

A robot controller is developed for human-robot handshaking. The focus of the work is to provide realistic experiences for the human participant in haptic interactions with a robot. To achieve this goal, a position-based admittance controller is implemented. By using haptic data as inputs, a hidden Markov model-based high-level controller is used to estimate human intentions and modify the reference trajectory accordingly. The overall control framework is implemented onto a robot with validation experiments carried out with human participants.

Published in:

EuroHaptics conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint

Date of Conference:

18-20 March 2009