Human touch behavior classification to therapy robot using SOM

In this research, a classification method for human touching behaviors to haptic therapy robot is proposed. It is difficult to apply explicit discrete representation for human touch behaviors such as “slap”, “pat” due to the existence of intermediate touch behavioral patterns. Therefore a new classification approach for human touch behaviors using Self Organizing Map (SOM) is proposed, using its ability to classify the nearby data in to a group. Further in this research the axis of out put maps are defined to be meaningful by specifying the initial placement of the input data during the training process.