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Conference papers

Cooperative human-robot haptic navigation

Stefano Scheggi 1, * Marco Aggravi 1 Fabio Morbidi 2 Domenico Prattichizzo 1
* Corresponding author
2 NECS [2007-2015] - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA [2007-2015] - Département Automatique
Abstract : This paper proposes a novel use of haptic feedback for human navigation with a mobile robot. Assuming that a path-planner has provided a mobile robot with an obstacle-free trajectory, the vehicle must steer the human from an initial to a desired target position by only interacting with him/her via a custom-designed vibro-tactile bracelet. The subject is free to decide his/her own pace and a warning vibrational signal is generated by the bracelet only when a large deviation with respect to the planned trajectory is detected by the vision sensor on-board the robot. This leads to a cooperative navigation system that is less intrusive, more flexible and easy-to-use than the ones existing in literature. The effectiveness of the proposed system is demonstrated via extensive real-world experiments.
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Submitted on : Wednesday, April 16, 2014 - 4:13:07 PM
Last modification on : Thursday, July 9, 2020 - 5:02:03 PM
Document(s) archivé(s) le : Monday, April 10, 2017 - 2:34:15 PM


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  • HAL Id : hal-00979696, version 1



Stefano Scheggi, Marco Aggravi, Fabio Morbidi, Domenico Prattichizzo. Cooperative human-robot haptic navigation. 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), May 2014, Hong Kong, China. pp.2693-2698. ⟨hal-00979696⟩



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