Cooperative human-robot haptic navigation

S. Scheggi, M. Aggravi, F. Morbidi, D. Prattichizzo
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
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 obstaclefree 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
more » ... nned 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.
doi:10.1109/icra.2014.6907245 dblp:conf/icra/ScheggiAMP14 fatcat:awpby57ybnddzetl7mues52nti