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Human robot interaction for manipulation tasks based on stroke gesture recognition

Jiajun Li (Aeronautical and Astronautical Science and Technology, State Key Laboratory of Robotics and System, Harbin, China)
Jianguo Tao (Harbin Institute of Technology, Harbin, China)
Liang Ding (Harbin Institute of Technology, Harbin, China)
Haibo Gao (Harbin Institute of Technology, Harbin, China)
Zongquan Deng (Harbin Institute of Technology, Harbin, China)
Yang Luo (Harbin Institute of Technology, Harbin, China)
Zhandong Li (Harbin Institute of Technology, Harbin, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 16 October 2017

264

Abstract

Purpose

The purpose of this paper is to extend the usage of stroke gestures in manipulation tasks to make the interaction between human and robot more efficient.

Design/methodology/approach

In this paper, a set of stroke gestures is designed for typical manipulation tasks. A gesture recognition and parameter extraction system is proposed to exploit the information in stroke gestures drawn by the users.

Findings

The results show that the designed gesture recognition subsystem can reach a recognition accuracy of 99.00 per cent. The parameter extraction subsystem can successfully extract parameters needed for typical manipulation tasks with a success rate about 86.30 per cent. The system shows an acceptable performance in the experiments.

Practical implications

Using stroke gesture in manipulation tasks can make the transmission of human intentions to the robots more efficient. The proposed gesture recognition subsystem is based on convolutional neural network which is robust to different input. The parameter extraction subsystem can extract the spatial information encoded in stroke gestures.

Originality/value

The author designs stroke gestures for manipulation tasks which is an extension of the usage of stroke gestures. The proposed gesture recognition and parameter extraction system can make use of stroke gestures to get the type of the task and important parameters for the task simultaneously.

Keywords

Acknowledgements

This work was supported by the National Key Basic Research Development Plan Project (973) (2013CB035502), Harbin Talent Program for Distinguished Young Scholars (No. 2014RFYXJ001), Research Project of State Key Laboratory of Mechanical System and Vibration (MSV201610), Fundamental Research Funds for the Central Universities (Grant No. HIT.BRETIII.201411) and “111” Project (B07018).

Citation

Li, J., Tao, J., Ding, L., Gao, H., Deng, Z., Luo, Y. and Li, Z. (2017), "Human robot interaction for manipulation tasks based on stroke gesture recognition", Industrial Robot, Vol. 44 No. 6, pp. 700-710. https://doi.org/10.1108/IR-01-2017-0011

Publisher

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Emerald Publishing Limited

Copyright © 2017, Emerald Publishing Limited

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