fig6

Figure 6. Intuitive HRI demonstration enabled by the Touch-Code Glove. (A) Application scenario showing a human trainer wearing the Touch-Code Glove to intuitively control an embodied intelligent robot for household tasks such as room cleaning and object grasping via three mapping strategies (Mapping I-III); (B) Multimodal sensor signal outputs during a continuous HRI sequence. (i) Finger grasping (Mapping I), (ii) wrist flexion (Mapping II), (iii) touch path gesture (Mapping III), and (iv) wrist extension (Mapping II) are sequentially performed to generate distinct signal patterns for gesture classification and task coordination; (C) Sequential snapshots of robotic task execution guided by Touch-Code Glove-based gestures. HRI: Human-robot interaction.