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Facial expressions play a dominant role in facilitating social interactions. We endeavor to develop tactile displays to reinstate facial expression modulated communication. The high spatial and temporal dimensionality of facial movements poses a unique challenge when designing tactile encodings of them. A further challenge is developing encodings that are at-tuned to the perceptual characteristics of our skin. A caveat of using vibrotactile displays is that tactile stimuli have been shown to induce perceptual tactile aftereffects when used on the fingers, arm and face. However, at present, despite the prevalence of waist-worn tactile displays, no such investigations of tactile aftereffects at the waist region exist in the literature, though they are warranted by the unique sensory and perceptual signalling characteristics of this area. Using an adaptation paradigm we investigated the presence of perceptual tactile aftereffects induced by continuous and burst vibrotactile stimuli delivered at the navel, side and spinal regions of the waist. We report evidence that the tactile perception topology of the waist is non-uniform, and specifically that the navel and spine regions are resistant to adaptive aftereffects while side regions are more prone to perceptual adaptations to continuous but not burst stimulations. Results of our current investigations highlight the unique set of challenges posed by designing waist-worn tactile displays. These and future perceptual studies can directly inform more realistic and effective implementations of complex high-dimensional spatiotemporal social cues.
RoPose-Real: real world dataset acquisition for data-driven industrial robot arm pose estimation
(2019)
It is necessary to employ smart sensory systems in dynamic and mobile workspaces where industrial robots are mounted on mobile platforms. Such systems should be aware of flexible and non-stationary workspaces and able to react autonomously to changing situations. Building upon our previously presented RoPose-system, which employs a convolutional neural network architecture that has been trained on pure synthetic data to estimate the kinematic chain of an industrial robot arm system, we now present RoPose-Real. RoPose-Real extends the prior system with a comfortable and targetless extrinsic calibration tool, to allow for the production of automatically annotated datasets for real robot systems. Furthermore, we use the novel datasets to train the estimation network with real world data. The extracted pose information is used to automatically estimate the observing sensor pose relative to the robot system. Finally we evaluate the performance of the presented subsystems in a real world robotic scenario.
Recognizing actions of humans, reliably inferring their meaning and being able to potentially exchange mutual social information are core challenges for autonomous systems when they directly share the same space with humans. Today’s technical perception solutions have been developed and tested mostly on standard vision benchmark datasets where manual labeling of sensory ground truth is a tedious but necessary task. Furthermore, rarely occurring human activities are underrepresented in such data leading to algorithms not recognizing such activities. For this purpose, we introduce a modular simulation framework which offers to train and validate algorithms on various environmental conditions. For this paper we created a dataset, containing rare human activities in urban areas, on which a current state of the art algorithm for pose estimation fails and demonstrate how to train such rare poses with simulated data only.
