Systems and methods for tactile gesture interpretation
AssigneeThe Board of Trustees of the Leland Stanford Junior University
InventorsElizabeth Bianchini, Prateek Verma, J. Kenneth Salisbury, Jr., Etienne Chassaing
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Abstract
Systems and methods for facilitating handoffs between a robot and a counterpart in accordance with embodiments of the invention are illustrated. One embodiment includes a method for controlling a robot to handoff an object. The method includes steps for presenting an object to a receiver, moving an object to interrogate a grip stiffness of the receiver, and measuring a response to the moving using a set of one or more sensors. The method further includes steps for computing the grip stiffness of the receiver based on the measured response and determining whether to release the object based on the computed grip stiffness.
Claims20
A method for controlling a robot to handoff an object, the method comprising:
- presenting an object to a receiver, wherein the receiver grasps the object upon being presented with the object;
- moving, using a robot arm, the object to interrogate a grip stiffness of the receiver;
- measuring a response by the receiver to the moving using a set of one or more sensors equipped on the robot arm;
- computing the grip stiffness of the receiver based on the measured response;
- and
- determining whether to release the object to the receiver based on the computed grip stiffness of the receiver.
Dependencies are inferred from the claim text.