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