Research on a detection and recognition method of tactile-slip sensation used to control the Elderly-assistant & Walking-assistant Robot

摘要

In this paper, according to the old people's physical characteristics and their technical requirements for comfort and mastery when operating the robot, a detection and recognition method of tactile and slip senses is proposed that used to control the Elderly-assistant & Walking-assistant Robot. First, on the basis of the proposed drive control system program of tactile and slip, detection system of tactile and slip senses is designed. And then, based on the tactile and slip feature representation and extraction, an improved classification and recognition method is proposed that K-nearest neighbor (KNN) algorithm are combined with K-means algorithm. In the end, through many online and offline experimental analysis, the results show that the tactile and slip senses detection and recognition method is effective, and it can realize the robot's driving control.