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Virtual guiding fixtures constrain the movements of a robot to task-relevant trajectories, and have been successfully applied to, for instance, surgical and manufacturing tasks. Whereas previous work has considered guiding fixtures for single tasks, in this paper we propose a library of guiding fixtures for multiple tasks, and propose methods for (1) creating and adding guides based on machine learning;...
In human-robot comanipulation, virtual guides are an important tool used to assist the human worker by reducing physical effort and cognitive overload during tasks accomplishment. However, virtual guide's construction often requires expert knowledge and modeling of the task which restricts the usefulness of virtual guides to scenarios with unchanging constraints. To overcome these challenges and enhance...
Individuals suffering from Autistic Spectrum Disorder (ASD) have impaired skills in social communication and joint attention. In this paper, we explain how we designed and evaluated a Joint Attention (JA) task for individuals with ASD using the Nao humanoid robot. The interaction was tested in children and teenagers with ASD (N=11). Their proprioceptive and visual integration of cues were first assessed,...
We design a personalized human-robot environment for social learning for individuals with autism spectrum disorders (ASD). In order to define an individual’s profile, we posit that the individual’s reliance on proprioceptive and kinematic visual cues should affect the way the individual suffering from ASD interacts with a social agent (human/robot/virtual agent). In this paper, we assess the potential...
In this paper, we describe the elaboration and the validation of a body and face database1, of 96 videos of 1 to 2 seconds of duration, expressing 4 emotions (i.e., anger, happiness, fear, and sadness) elicited through 4 platforms of increased visual complexity and level of embodiment. The final aim of this database is to develop an individualized training program designed for individuals suffering...
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