This paper proposes a novel use of haptic feedback for human navigation with a mobile robot. Assuming that a path-planner has provided a mobile robot with an obstacle-free trajectory, the vehicle must steer the human from an initial to a desired target position by only interacting with him/her via a custom-designed vibro-tactile bracelet. The subject is free to decide his/her own pace and a warning vibrational signal is generated by the bracelet only when a large deviation with respect to the planned trajectory is detected by the vision sensor on-board the robot. This leads to a cooperative navigation system that is less intrusive, more flexible and easy-to-use than the ones existing in literature. The effectiveness of the proposed system is demonstrated via extensive real-world experiments.

Scheggi, S., Aggravi, M., F., M., & Prattichizzo, D. (2014). Cooperative human-robot haptic navigation. In Proc. 2014 IEEE International Conference on Robotics and Automation (ICRA) (pp.2693-2698). IEEE [10.1109/ICRA.2014.6907245].

Cooperative human-robot haptic navigation

SCHEGGI, STEFANO;AGGRAVI, MARCO;PRATTICHIZZO, DOMENICO
2014

Abstract

This paper proposes a novel use of haptic feedback for human navigation with a mobile robot. Assuming that a path-planner has provided a mobile robot with an obstacle-free trajectory, the vehicle must steer the human from an initial to a desired target position by only interacting with him/her via a custom-designed vibro-tactile bracelet. The subject is free to decide his/her own pace and a warning vibrational signal is generated by the bracelet only when a large deviation with respect to the planned trajectory is detected by the vision sensor on-board the robot. This leads to a cooperative navigation system that is less intrusive, more flexible and easy-to-use than the ones existing in literature. The effectiveness of the proposed system is demonstrated via extensive real-world experiments.
9781479936861
978-1-4799-3685-4
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11365/955444