Gesture Recognition in the Haptic Creature

  • Jonathan Chang
  • Karon MacLean
  • Steve Yohanan
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6191)


Touch is an important but poorly studied aspect of emotional communication. With the Haptic Creature we are investigating fundamentals of affective touch. This small robot senses the world solely by being touched via a force-sensing resistor network, and communicates its internal state via purring, stiffening its ears and modulating its breathing and pulse. We describe the Creature’s first-generation gesture recognition engine, analyze its results, and specify its next iteration. In the region of highest sensor density, four gestures were differentiated with an average of 77% accuracy. Error patterns suggest that sensor deficiency rather than algorithm pose current performance limits.


Affect touch sensing human-robot interaction gesture recognition 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Jonathan Chang
    • 1
  • Karon MacLean
    • 1
  • Steve Yohanan
    • 1
  1. 1.Department of Computer ScienceUniversity of British ColumbiaVancouverCanada

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