Kasuga and hashimoto 2005 introduced a framework for humanrobot handshaking using neural oscillators. The mutual joint torque between the human and robot is used as an external input signal for the. The titfortat and the machine learning models generated handshakes that were perceived as the most humanlike. A neural oscillator is used to accomplish synchronization and entrainment between periodic motions by the human and robot. Passiveness of the handshake can be changed by adjusting strength of the synchronization. In this study we propose a framework using neural oscillators for humanrobot physical interaction such as handshaking. In human interactions, handshaking is an important and universally social. Results show that the neural and synaptic hebbian plasticity are working together. Humanaware natural handshaking using tactile sensors. Kasuga, t, hashimoto, m 2005 humanrobot handshaking using neural oscillators. Robot gains social intelligence through multimodal deep arxiv. Pdf physical humanrobot interaction in the handshaking.
It reproduces the main coordination features observed during rhythmic bimanual. Facilitates selfsynchronization for humanrobot handshaking. In handshaking action, the robot raises its hand to a certain. They were able to control how passive or active the robot. Humanrobot handshaking using neural oscillators ieee. Online frequency adaptation and movement imitation for rhythmic. Inspired by that essential feature of human interaction, we present a. Neural oscillators are used for synchronization and entrainment.
Our goal is to provide a perspective to achieve natural human robot handshaking in addition to timefrequency based trajectory control. Pdf physical human robot interaction in the handshaking. Rhythm patterns interaction synchronization behavior for human. Facilitates self synchronization for humanrobot handshaking. Physical humanrobot interaction in the handshaking case. Hebbian plasticity in cpg controllers facilitates self. Saint petersburg, russia physical human robot interaction in the handshaking case. In this paper we present a novel method to obtain the basic. Physical human robot interaction in the handshaking case. In 8, the authors propose a kinematic controller for human robot handshaking using internal motion. Neural oscillators are used for synchronization and entrainment between human and robot motions.
Cpg, adaptive behavior, handshaking, plasticity, neural oscillators. When such robots interact physically with humans, they will need to be. The robot tunes handshaking based on a gender and familiarity of the interacting person. A kinematic controller for humanrobot handshaking using. Article information, pdf download for online frequency adaptation and. They were able to control how passive or active the robot handshake was and modulate the. In this study we propose a framework using neural oscillators for human robot physical interaction such as handshaking. In this paper, we propose a hybrid deliberatereactive model to achieve natural handshaking between human beings and robots.
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