Command recognition based on haptic information for a robot arm

Recent development of motion control technology brings robots to our daily life. In the daily life, physical distance between humans and robots get very closer. This closed distance leads new issues in human robot interaction, such as safety issue and communication issue. The authors developed haptic sensing system called haptic armor. The sensory system can detect any contact on the robot surface and also it can distinguish the haptic command using contact information. The haptic command is the command which is delivered by physical contact to the robot. The present paper proposes the haptic commands for human robot interfaces. Furthermore, the design algorism of the haptic command is established in the paper.