Cooperative human-robot haptic navigation

Stefano Scheggi 1, * Marco Aggravi 1 Fabio Morbidi 2 Domenico Prattichizzo 1
* Corresponding author
2 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - 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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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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