Exploiting Tactile Gestures for Intuitive Robot Programming and Control
Arne Muxfeldt, Daniel Kubus, Jan Haus, Konrad Kissener, and Jochen Steil
Tactile surface sensors (TSSs) are often utilized for contact management in human robot collaboration scenarios but they may also be exploited as gesture input devices for online robot programming and control. To this end, we introduce a compact, invariant gesture representation as well as a two-stage gesture recognition and parameter extraction approach which is utilized to generate and parameterize robot motion and tool commands based on a set of 16 gestures. Our experimental results and the accompanying video show the viability of the proposed gesture-based online robot programming and control approach in an industry-related scenario.