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