Expressive touch: Control of robot emotional expression by touch

In this paper, we present a work on control of robot emotional expression using touch sensing. A tactile Bayesian framework is proposed for recognition of different types of touch gestures. We include a sequential analysis method that, based on the accumulation of evidence from tactile interaction, allows to achieve accurate results for recognition of touch. Input data to our method is obtained from touch sensing, which is an important modality for social robotics. Here, emotion in the robot platform are represented by facial expressions, that are handled by a developed control architecture. We validate our method with experiments on tactile interaction in simulated and real robot environments. Results demonstrate that our proposed method is suitable and accurate for control of robot emotions through interaction with humans using touch sensing. Furthermore, it is demonstrated the potential that touch provides as a non-verbal communication channel for the development of social robots capable to interact with humans.