Sensing In HRI

This lecture covers the concepts of Sensing in Human-Robot Interaction (HRI) and its applications, including human haptics, robot haptics, and modular artificial skin. It explores techniques like EMG, ENG, and BMI in biomechatronics, emphasizing the dynamical system approach to task-adaptation in physical HRI. The lecture also delves into the importance of HRI sensing in education, entertainment, home robotics, robot-assisted therapy, rehabilitation, and wearable robotics. Various sensors, such as resistive sensors and force resistive sensors, are discussed, along with their applications in HRI. The lecture showcases case studies like the CellulAR Skin and GelSight, highlighting their multimodal tactile sensing capabilities and retrographic sensing for touch, texture, and shape.