INCIDENTAL ROBOT-HUMAN CONTACT DETECTION

摘要

Technologies are generally described for detection of incidental robot-human contact. In some examples, a robotic actuator movement may generate a feedback signal, such as a haptic signal, a proprioreceptive signal, an optical signal, and/or an infrared signal. A tremor detector may determine whether the feedback signal contains a tremor signal characteristic of a human, for example by determining whether frequency components in the feedback signal fall within particular frequency ranges. Upon determining that the feedback signal does contain a tremor signal characteristic of a human, the tremor detector may conclude that the robotic actuator has come into contact with a human, and may cause the actuator to halt its movement.

主权项

1. A method to guide actuator movement, the method comprising:
determining a feedback signal associated with a movement of an actuator; determining whether the feedback signal includes a tremor signal characteristic of at least one of a human and an animal; and in response to determination that the feedback signal includes the tremor signal, halting the movement of the actuator.