Journal article Open Access

Pressure Distribution Classification and Segmentation of Human Hands in Contact with the Robot Body

Albini Alessandro; Giorgio Cannata


DCAT Export

<?xml version='1.0' encoding='utf-8'?>
<rdf:RDF xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#" xmlns:adms="http://www.w3.org/ns/adms#" xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:dct="http://purl.org/dc/terms/" xmlns:dctype="http://purl.org/dc/dcmitype/" xmlns:dcat="http://www.w3.org/ns/dcat#" xmlns:duv="http://www.w3.org/ns/duv#" xmlns:foaf="http://xmlns.com/foaf/0.1/" xmlns:frapo="http://purl.org/cerif/frapo/" xmlns:geo="http://www.w3.org/2003/01/geo/wgs84_pos#" xmlns:gsp="http://www.opengis.net/ont/geosparql#" xmlns:locn="http://www.w3.org/ns/locn#" xmlns:org="http://www.w3.org/ns/org#" xmlns:owl="http://www.w3.org/2002/07/owl#" xmlns:prov="http://www.w3.org/ns/prov#" xmlns:rdfs="http://www.w3.org/2000/01/rdf-schema#" xmlns:schema="http://schema.org/" xmlns:skos="http://www.w3.org/2004/02/skos/core#" xmlns:vcard="http://www.w3.org/2006/vcard/ns#" xmlns:wdrs="http://www.w3.org/2007/05/powder-s#">
  <rdf:Description rdf:about="https://zenodo.org/record/3706665">
    <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#anyURI">https://zenodo.org/record/3706665</dct:identifier>
    <foaf:page rdf:resource="https://zenodo.org/record/3706665"/>
    <dct:creator>
      <rdf:Description rdf:about="http://orcid.org/0000-0003-1562-7044">
        <rdf:type rdf:resource="http://xmlns.com/foaf/0.1/Agent"/>
        <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#string">0000-0003-1562-7044</dct:identifier>
        <foaf:name>Albini Alessandro</foaf:name>
        <org:memberOf>
          <foaf:Organization>
            <foaf:name>University of Genoa</foaf:name>
          </foaf:Organization>
        </org:memberOf>
      </rdf:Description>
    </dct:creator>
    <dct:creator>
      <rdf:Description rdf:about="http://orcid.org/0000-0001-7932-5411">
        <rdf:type rdf:resource="http://xmlns.com/foaf/0.1/Agent"/>
        <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#string">0000-0001-7932-5411</dct:identifier>
        <foaf:name>Giorgio Cannata</foaf:name>
        <org:memberOf>
          <foaf:Organization>
            <foaf:name>University of Genoa</foaf:name>
          </foaf:Organization>
        </org:memberOf>
      </rdf:Description>
    </dct:creator>
    <dct:title>Pressure Distribution Classification and Segmentation of Human Hands in Contact with the Robot Body</dct:title>
    <dct:publisher>
      <foaf:Agent>
        <foaf:name>Zenodo</foaf:name>
      </foaf:Agent>
    </dct:publisher>
    <dct:issued rdf:datatype="http://www.w3.org/2001/XMLSchema#gYear">2020</dct:issued>
    <dcat:keyword>tactile sensing, robot skin, human robot interaction</dcat:keyword>
    <frapo:isFundedBy rdf:resource="info:eu-repo/grantAgreement/EC/H2020/820767/"/>
    <schema:funder>
      <foaf:Organization>
        <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#string">10.13039/501100000780</dct:identifier>
        <foaf:name>European Commission</foaf:name>
      </foaf:Organization>
    </schema:funder>
    <dct:issued rdf:datatype="http://www.w3.org/2001/XMLSchema#date">2020-03-10</dct:issued>
    <dct:language rdf:resource="http://publications.europa.eu/resource/authority/language/ENG"/>
    <owl:sameAs rdf:resource="https://zenodo.org/record/3706665"/>
    <adms:identifier>
      <adms:Identifier>
        <skos:notation rdf:datatype="http://www.w3.org/2001/XMLSchema#anyURI">https://zenodo.org/record/3706665</skos:notation>
        <adms:schemeAgency>url</adms:schemeAgency>
      </adms:Identifier>
    </adms:identifier>
    <owl:sameAs rdf:resource="https://doi.org/10.1177/0278364920907688"/>
    <dct:isPartOf rdf:resource="https://zenodo.org/communities/collaborate_project"/>
    <dct:description>&lt;p&gt;This paper deals with the problem of the recognition of human hand touch by a robot equipped with large area tactile&lt;br&gt; sensors covering its body. This problem is relevant in the domain of physical human-robot interaction for discriminating&lt;br&gt; between human and non-human contacts and to trigger and to drive cooperative tasks or robot motions, or to ensure a&lt;br&gt; safe interaction. The underlying assumption, used in this paper, is that voluntary physical interaction tasks involve hand&lt;br&gt; touch over the robot body, and therefore the capability of recognizing hand contacts is a key element to discriminate a&lt;br&gt; purposive human touch from other types of interaction.&lt;br&gt; The proposed approach is based on a geometric transformation of the tactile data, formed by pressure measurements&lt;br&gt; associated to a non uniform cloud of 3D points (taxels) spread over a non linear manifold corresponding to the robot&lt;br&gt; body, into tactile images representing the contact pressure distribution in 2D. Tactile images can be processed using&lt;br&gt; deep learning algorithms to recognize human hands and to compute the pressure distribution applied by the various&lt;br&gt; hand segments: palm and single fingers.&lt;br&gt; Experimental results, performed on a real robot covered with robot skin, show the effectiveness of the proposed&lt;br&gt; methodology. Moreover, to evaluate its robustness, various types of failures have been simulated. A further analysis&lt;br&gt; concerning the transferability of the system has been performed, considering contacts occurring on a different&lt;br&gt; sensorized robot part.&lt;/p&gt;</dct:description>
    <dct:accessRights rdf:resource="http://publications.europa.eu/resource/authority/access-right/PUBLIC"/>
    <dct:accessRights>
      <dct:RightsStatement rdf:about="info:eu-repo/semantics/openAccess">
        <rdfs:label>Open Access</rdfs:label>
      </dct:RightsStatement>
    </dct:accessRights>
    <dct:license rdf:resource="https://creativecommons.org/licenses/by/4.0/legalcode"/>
    <dcat:distribution>
      <dcat:Distribution>
        <dcat:accessURL rdf:resource="https://doi.org/10.1177/0278364920907688">https://doi.org/10.1177/0278364920907688</dcat:accessURL>
        <dcat:byteSize>5050158</dcat:byteSize>
        <dcat:downloadURL rdf:resource="https://zenodo.org/record/3706665/files/Pressure Distribution Classification and Segmentation of Human Hands in Contact with the Robot Body.pdf">https://zenodo.org/record/3706665/files/Pressure Distribution Classification and Segmentation of Human Hands in Contact with the Robot Body.pdf</dcat:downloadURL>
        <dcat:mediaType>application/pdf</dcat:mediaType>
      </dcat:Distribution>
    </dcat:distribution>
  </rdf:Description>
  <foaf:Project rdf:about="info:eu-repo/grantAgreement/EC/H2020/820767/">
    <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#string">820767</dct:identifier>
    <dct:title>Co-production CeLL performing Human-Robot Collaborative AssEmbly</dct:title>
    <frapo:isAwardedBy>
      <foaf:Organization>
        <dct:identifier rdf:datatype="http://www.w3.org/2001/XMLSchema#string">10.13039/501100000780</dct:identifier>
        <foaf:name>European Commission</foaf:name>
      </foaf:Organization>
    </frapo:isAwardedBy>
  </foaf:Project>
</rdf:RDF>
50
75
views
downloads
Views 50
Downloads 75
Data volume 378.8 MB
Unique views 46
Unique downloads 67

Share

Cite as