Command recognition by haptic interface on human support robot

This paper describes a method for command recognition by a haptic interface on a human support robot. Feature quantities are derived from the contact trajectory when an operator runs his finger across the haptic interface. The robot then recognizes a command based on these derived feature quantities from the symbolized contact trajectory. Conforming the robot motion to the symbolized contact trajectory allows for intuitive operation of the robot. The experimental results indicate that novice operators using this interface can obtain high command recognition rates.