Human robot handshaking using neural oscillators pdf

A kinematic controller for human robot handshaking using internal. Online frequency adaptation and movement imitation for rhythmic. Inspired by that essential feature of human interaction, we present a. Neural oscillators are used for synchronization and entrainment between human and robot motions. They were able to control how passive or active the robot. Facilitates self synchronization for humanrobot handshaking. Pdf physical human robot interaction in the handshaking. The mutual joint torque between the human and robot is used as an external input signal for the. Both humanrobot handshaking 36 and physical assistance for rhythmic knee movements 37 are realized based on the matsuoka neural oscillator.

Kasuga and hashimoto 2005 introduced a framework for humanrobot handshaking using neural oscillators. In this study we propose a framework using neural oscillators for humanrobot physical interaction such as handshaking. In human interactions, handshaking is an important and universally social. Cpg, adaptive behavior, handshaking, plasticity, neural oscillators. Robot gains social intelligence through multimodal deep arxiv. In 8, the authors propose a kinematic controller for human robot handshaking using internal motion. It reproduces the main coordination features observed during rhythmic bimanual. Facilitates selfsynchronization for humanrobot handshaking. Physical humanrobot interaction in the handshaking case. They were able to control how passive or active the robot handshake was and modulate the. Pdf handshaking represents a complex motor and cognitive task that poses several challenges from both engineering and neuroscientific viewpoints. Humanaware natural handshaking using tactile sensors. Passiveness of the handshake can be changed by adjusting strength of the synchronization. The robot tunes handshaking based on a gender and familiarity of the interacting person.

Article information, pdf download for online frequency adaptation and. When such robots interact physically with humans, they will need to be. Saint petersburg, russia physical human robot interaction in the handshaking case. A neural oscillator is used to accomplish synchronization and entrainment between periodic motions by the human and robot. Physical human robot interaction in the handshaking case. Humanrobot handshaking using neural oscillators ieee xplore.

The titfortat and the machine learning models generated handshakes that were perceived as the most humanlike. Pdf physical humanrobot interaction in the handshaking. Hebbian plasticity in cpg controllers facilitates self. Kasuga, t, hashimoto, m 2005 humanrobot handshaking using neural oscillators.

Results show that the neural and synaptic hebbian plasticity are working together. A kinematic controller for humanrobot handshaking using. Humanrobot handshaking using neural oscillators ieee. Abstractfor robots to coexist with humans in a social world like ours, it is crucial. In this paper we present a novel method to obtain the basic. In this paper, we propose a hybrid deliberatereactive model to achieve natural handshaking between human beings and robots. Our goal is to provide a perspective to achieve natural human robot handshaking in addition to timefrequency based trajectory control. Pdf a kinematic controller for humanrobot handshaking.