Prediction of target object based on human hand movement for handing-over between human and self-moving trays

Yusuke Tamura, Masao Sugi, Jun Ota, Tamio Arai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

We aim to realize a robotic system that hands over a necessary object to a user as soon as he/she attempts to reach out for it. In order to realize such system, the following is required: 1) detection of the reaching movement, 2) prediction of the target object among multiple objects, and 3) handing over the object to a user. In this paper, the first two of them are described and discussed. We apply the smoothness and the speed of the hand movement to distinguish whether the movement is for reaching or not. And in order to predict the target object, we define the certainty according to the relative movement of the hand to each object. To evaluate the performance of the proposed method, we compare the method with the minimum jerk model based approach. A description of the experimental results demonstrates the usefulness of the method proposed here.

Original languageEnglish
Title of host publicationProceedings - RO-MAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication
Pages189-194
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Externally publishedYes
EventRO-MAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication - Hatfield, United Kingdom
Duration: 2006 Sep 62006 Sep 8

Publication series

NameProceedings - IEEE International Workshop on Robot and Human Interactive Communication

Other

OtherRO-MAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication
Country/TerritoryUnited Kingdom
CityHatfield
Period06/9/606/9/8

ASJC Scopus subject areas

  • Engineering(all)

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