Large-Scale Tactile Detection System Based on Supervised Learning for Service Robots Human Interaction

摘要

In this work, a large-scale tactile detection system is proposed, whose development is based on a soft structure using Machine Learning and Computer Vision algorithms to map the surface of a forearm sleeve. The current application has a cylindrical design, whose dimensions intend to be like a human forearm or bicep. The model was developed assuming that deformations occur only at one section at a time. The goal for this system is to be coupled with the CHARMIE robot, a collaborative robot for domestic and medical environments. This system allows the contact detection of the entire forearm surface enabling interaction between a Human Being and a robot. A matrix with sections can be configured to present certain functionalities, allowing CHARMIE to detect contact in a particular section, and thus perform a specific behaviour. After building the dataset, an Artificial Neural Network (ANN) was created. This network was called Section Detection Network (SDN), and through Supervised Learning, a model was created to predict the contact location. Furthermore, Stratified K-Fold Cross Validation (SKFCV) was used to divide the dataset. All these steps resulted in Neural Network with a test data accuracy higher than 80%. Regarding the real-time evaluation, a graphical interface was structured to demonstrate the predicted class and the corresponding probability. This research concluded that the method described has enormous potential to be used as a tool for service robots allowing enhanced human-robot interaction.