Research Article
A Distributed Tactile Sensor for Intuitive Human-Robot Interfacing
Algorithm 1
Pseudocode of the map-based recognition algorithm.
Require: 144 tactile sensor signals | Ensure: Recognized gesture | (1) initialization | (2) while TRUE do | (3) TactileMap = extractTactileMap (sensorSignals) | (4) TactileMap+ = TactileMap (element-wise sum) | (5) if sensorNotTouched then | (6) ClippedTactileMap = getBoundingBox (TactileMap) | (7) scaledTactileMap = NNA (ClippedTactileMap) | (8) for each th gesture in the codebook do | (9) = compare (scaledTactileMap, ) (in terms of Hamming distance) | (10) end for | (11) makeDecision () | (12) clear (TactileMap) | (13) end if | (14) end while |
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