Gesture-Based Feedback in Human-Robot Interaction for Object Manipulation

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


Human-Robot Interaction is a currently highly active research area with many advances in interfaces that allow humans and robots to have bi-directional feedback of their intentions. However, in an industrial setting, current robot feedback methods struggle to successfully deliver messages since the environment makes it difficult and inconvenient for the user to perceive them. This paper proposes a novel method for robot feedback, leveraging the addition of social cues to robot movement to notify the human of its intentions. Through the use of robotic gestures, we believe it is possible to successfully convey the robots’ goals in interactions with humans. To verify this hypothesis, a proof of concept was developed in a simulated environment using a robotic arm manipulator that notifies the user using gestures when it needs to correct the pose of an object.

Original languageEnglish
Title of host publicationTechnological Innovation for Digitalization and Virtualization
Subtitle of host publication13th IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2022, Caparica, Portugal, June 29 – July 1, 2022, Proceedings
EditorsLuís M. Camarinha-Matos
Place of PublicationCham
Number of pages11
ISBN (Electronic)978-3-031-07520-9
ISBN (Print)978-3-031-07519-3
Publication statusPublished - 2022
Event13th Advanced Doctoral Conference on Computing, Electrical, and Industrial Systems, DoCEIS 2022 - Caparica, Portugal
Duration: 29 Jun 20221 Jul 2022

Publication series

NameIFIP Advances in Information and Communication Technology
ISSN (Print)1868-4238
ISSN (Electronic)1868-422X


Conference13th Advanced Doctoral Conference on Computing, Electrical, and Industrial Systems, DoCEIS 2022


  • Human-Robot Interaction
  • Machine Learning
  • Object manipulation
  • Robotics
  • Simulation


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