The goal of effective interaction between user and robot assistant makes it essential to provide a number of broadly utilizable and potentially redundant communication channels. The integration of classic interfaces, like graphical inputoutput devices, with newer types of interfaces such as speech and visual interfaces, tactile sensors, and force/torque sensors, is indispensable for the task. At the same time, the robot assistant must be able to differentiate between the user’s communication and the dynamics resulting from the manipulation function itself.
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