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Open AccessArticle

Textile Pressure Mapping Sensor for Emotional Touch Detection in Human-Robot Interaction

German Research Center for Artificial Intelligence, 67663 Kaiserslautern, Germany
Department Computer Science, University of Kaiserslautern, 67663 Kaiserslautern, Germany
Swedish School of Textiles, University of Borås, 50190 Borås, Sweden
School of Informatics, University of Skövde, 54128 Skövde, Sweden
Institute for Clinical Science, Intervention and Technology, Karolinska Institutet, 17177 Stockholm, Sweden
Department Biomedical Engineering, Karolinska University Hospital, 14186 Stockholm, Sweden
Author to whom correspondence should be addressed.
Sensors 2017, 17(11), 2585;
Received: 30 September 2017 / Revised: 1 November 2017 / Accepted: 6 November 2017 / Published: 9 November 2017
(This article belongs to the Special Issue Tactile Sensors and Sensing)
In this paper, we developed a fully textile sensing fabric for tactile touch sensing as the robot skin to detect human-robot interactions. The sensor covers a 20-by-20 cm 2 area with 400 sensitive points and samples at 50 Hz per point. We defined seven gestures which are inspired by the social and emotional interactions of typical people to people or pet scenarios. We conducted two groups of mutually blinded experiments, involving 29 participants in total. The data processing algorithm first reduces the spatial complexity to frame descriptors, and temporal features are calculated through basic statistical representations and wavelet analysis. Various classifiers are evaluated and the feature calculation algorithms are analyzed in details to determine each stage and segments’ contribution. The best performing feature-classifier combination can recognize the gestures with a 93 . 3 % accuracy from a known group of participants, and 89 . 1 % from strangers. View Full-Text
Keywords: tactile sensing; smart textiles; human-robot interaction tactile sensing; smart textiles; human-robot interaction
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Zhou, B.; Altamirano, C.A.V.; Zurian, H.C.; Atefi, S.R.; Billing, E.; Martinez, F.S.; Lukowicz, P. Textile Pressure Mapping Sensor for Emotional Touch Detection in Human-Robot Interaction. Sensors 2017, 17, 2585.

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