A Novel Haptic Feature Set for the Classification of Interactive Motor Behaviors in Collaborative Object Transfer

Al-saadi, Zaid, Sirintuna, Doganay, Kucukyilmaz, Ayse and Basdogan, Cagatay (2021) A Novel Haptic Feature Set for the Classification of Interactive Motor Behaviors in Collaborative Object Transfer. IEEE Transactions on Haptics . p. 1. ISSN 1939-1412

Full content URL: https://doi.org/10.1109/TOH.2020.3034244

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A Novel Haptic Feature Set for the Classification of Interactive Motor Behaviors in Collaborative Object Transfer
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Abstract

Haptics provides a natural and intuitive channel of communication during the interaction of two humans in complex physical tasks, such as joint object transportation. However, despite the utmost importance of touch in physical interactions, the use of haptics is underrepresented when developing intelligent systems. This study explores the prominence of haptic data to extract information about underlying interaction patterns within human-human cooperation. For this purpose, we design salient haptic features describing the collaboration quality within a physical dyadic task and investigate the use of these features to classify the interaction patterns. We categorize the interaction into four discrete behavior classes. These classes describe whether the partners work in harmony or face conflicts while jointly transporting an object through translational or rotational movements. We test the proposed features on a physical human-human interaction (pHHI) dataset, consisting of data collected from 12 human dyads. Using these data, we verify the salience of haptic features by achieving a correct classification rate over 91% using a Random Forest classifier.

Keywords:Collaborative Manipulation, Classification, Dyadic Manipulation, feature extraction, Haptic Feedback, Machine learning, pattern recognition, Physical Human-Human Interaction, Physical Human-Robot Interaction
Subjects:H Engineering > H670 Robotics and Cybernetics
Divisions:College of Science > School of Computer Science
ID Code:43742
Deposited On:26 Jan 2021 15:45

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