Research Article
A Distributed Tactile Sensor for Intuitive Human-Robot Interfacing
Algorithm 2
Pseudocode of the centroid-based recognition algorithm.
Require: 144 tactile sensor signals | Ensure: Recognized gesture | (1) initialization | (2) while TRUE do | (3) cp = extractContactPoint (sensorSignals) (as described in [24]) | (4) if sensorNotTouched then | (5) resampledCP = NNA (cp) | (6) normalizedCP = normalize (resampledCP) (as defined in Eq. (6)) | (7) for each th gesture in the codebook do | (8) = compare (normalizedCP, ) (as defined in Eq. (7)) | (9) end for | (10) makeDecision () | (11) clear (cp) | (12) end if | (13) end while |
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