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abstract = {Robots come into physical contact with humans in both
experimental and operational settings. Many potential
factors motivate the detection of human contact, ranging
from safe robot operation around humans, to robot
behaviors that depend on human guidance. This article
presents a review of current research within the field of
Tactile Human–Robot Interactions (Tactile HRI), where
physical contact from a human is detected by a robot
during the execution or development of robot behaviors.
Approaches are presented from two viewpoints: the types
of physical interactions that occur between the human and
robot, and the types of sensors used to detect these
interactions. We contribute a structure for the
categorization of Tactile HRI research within each
viewpoint. Tactile sensing techniques are grouped into
three categories, according to what covers the sensors:
(i) a hard shell, (ii) a flexible substrate or (iii) no
covering. Three categories of physical HRI likewise are
identified, consisting of contact that (i) interferes
with robot behavior execution, (ii) contributes to
behavior execution and (iii) contributes to behavior
development. We populate each category with the current
literature, and furthermore identify the state-of-the-art
within categories and promising areas for future
affiliation = {EPFL},
author = {Argall, Brenna D. and Billard, Aude G.},
details = {http://infoscience.epfl.ch/record/143457},
documenturl = {http://infoscience.epfl.ch/record/143457/files/article_published.pdf},
doi = {NA},
issn = {0921-8890},
journal = {Robotics and {A}utonomous {S}ystems},
number = {10},
oai-id = {oai:infoscience.epfl.ch:143457},
oai-set = {article; fulltext; fulltext-public},
pages = {1159--1176},
publisher = {Elsevier},
review = {REVIEWED},
status = {PUBLISHED},
submitter = {191058; 191058; 191058; 191058; 191058},
title = {A {S}urvey of {T}actile {H}uman-{R}obot {I}nteractions},
unit = {LASA},
url = {http://dx.doi.org/10.1016/j.robot.2010.07.002},
volume = {58},
year = 2010

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