A HUG taxonomy of humans with potential in human-robot hugs.
Journal
Scientific reports
ISSN: 2045-2322
Titre abrégé: Sci Rep
Pays: England
ID NLM: 101563288
Informations de publication
Date de publication:
20 06 2024
20 06 2024
Historique:
received:
25
01
2024
accepted:
13
06
2024
medline:
21
6
2024
pubmed:
21
6
2024
entrez:
20
6
2024
Statut:
epublish
Résumé
Humans can easily perform various types of hugs in human contact and affection experience. With the prevalence of robots in social applications, they would be expected to possess the capability of hugs as humans do. However, it is still not an easy task for robots, considering the complex force and spatial constraints of robot hugs. In this work, we propose the HUG taxonomy, which distinguishes between different hugging patterns based on human demonstrations and prior knowledge. In this taxonomy, hugs are arranged according to (1) hugging tightness, (2) hugging style, and (3) bilateral coordination, resulting in 16 different hug types. We then further study the hug type preference of humans in different scenarios and roles. Furthermore, we propose a rule-based classification system to validate the potential of this taxonomy in human-robot hugs based on a humanoid robot with an E-skin of contact sensation. The HUG taxonomy could provide human hugging behavior information in advance, facilitating the action control of humanoid robots. We believe the results of our work can benefit future studies on human-robot hugging interactions.
Identifiants
pubmed: 38902448
doi: 10.1038/s41598-024-64825-8
pii: 10.1038/s41598-024-64825-8
doi:
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM
Pagination
14212Subventions
Organisme : Science and Technology Commission of Shanghai Municipality
ID : 22ZR1467100
Organisme : National Natural Science Foundation of China
ID : 62088101
Organisme : National Natural Science Foundation of China
ID : U2013602
Organisme : National Key Research and Development Program of China
ID : 2020AAA0108905
Informations de copyright
© 2024. The Author(s).
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