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- Publisher Website: 10.1109/WHC.2009.4810835
- Scopus: eid_2-s2.0-67649648226
- WOS: WOS:000266714300064
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Conference Paper: An HMM approach to realistic haptic Human-Robot interaction
| Title | An HMM approach to realistic haptic Human-Robot interaction |
|---|---|
| Authors | |
| Issue Date | 2009 |
| Citation | Proceedings - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009, 2009, p. 374-379 How to Cite? |
| Abstract | 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. © 2009 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/199911 |
| ISI Accession Number ID |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Wang, Zheng | - |
| dc.contributor.author | Peer, Angelika | - |
| dc.contributor.author | Buss, Martin | - |
| dc.date.accessioned | 2014-07-26T23:10:54Z | - |
| dc.date.available | 2014-07-26T23:10:54Z | - |
| dc.date.issued | 2009 | - |
| dc.identifier.citation | Proceedings - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009, 2009, p. 374-379 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/199911 | - |
| dc.description.abstract | 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. © 2009 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | Proceedings - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009 | - |
| dc.title | An HMM approach to realistic haptic Human-Robot interaction | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/WHC.2009.4810835 | - |
| dc.identifier.scopus | eid_2-s2.0-67649648226 | - |
| dc.identifier.spage | 374 | - |
| dc.identifier.epage | 379 | - |
| dc.identifier.isi | WOS:000266714300064 | - |