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This paper reports our longitudinal observation of unconstrained child-robot interaction at a daycare center for autistic children. We used a simple robot, Keepon, that is only capable of expressing its attention (directing its gaze) and emotions (pleasure and excitement). While controlled by a remote experimenter, Keepon interacted with the children with its simple appearance and actions. With a...
A percussive massage robot for senior health care is under development at our Intelligent Control and Robotics Laboratory. This paper presents a conceptual design of the massage robot, forward and inverse kinematic analysis, and Jacobian derivation of the robot manipulator that has 4 degree of freedom motion. Furthermore, the shape and magnitude of impact force for percussive massage tapping human...
This paper presents our work on the therapeutic robotics project EmotiRob which is the continuity of the MAPH (Active Media For the Handicap) project in emotion synthesis. Our aim is to maintain emotional interaction with children. For this, word, movement, and emotion synthesis are used. Here, we strive to define a robot face which is a compromise between expressive richness and mechanical simplicity...
This paper presents our development of a network-enabled human/robot cooperative interface for tele- diagnostics of breast pathology. To enhance telepresence capabilities, our human/robot interface is comprised of an anthropomorphic arm/hand equipped with haptic and tactile sensing, ultrasound imaging capabilities, a physician interface capable of rendering both haptic and tactile information, and...
This paper presents a novel affect-sensitive human-robot interaction framework for rehabilitation of children with autism spectrum disorder (ASD) where the robot can detect the affective cues of the children implicitly and response to them appropriately. Psychophysiological analysis is performed that uses subjective reports of the affective states from a clinical observer. Comprehensive physiological...
The aim of the work presented in this paper is to realize the model for the control of a robotic interface for equilibrium assistance during sit-to-stand transfer. Interactive robotic devices designed as human-centered robotics, can give more comfortable and more efficient solutions than traditional technical devices. One supposes the need of a virtual model of the pathology. This model, called observer,...
We propose a novel design of artificial robot ear for sound direction estimation using measured two outputs only. The spectral features in head-related transfer functions and in interaural transfer functions (ITFs) are distinctive in the voice frequency band. Thus, these features provide effective sound cues to estimate the sound direction using two measured ear outputs only without input information...
Robot therapy for elderly residents in a care house has been conducted since June 2005. Two therapeutic seal robots were introduced and activated for over 9 hours every day to interact with the residents. This paper presents the results of this experiment for two months. In order to investigate the psychological and social effects of the robots, each subject was interviewed by using the free pile...
The work presented in this paper was carried out within the IROMEC project that develops a robotic toy for children. Play has an important role in child development with many potential contributions to therapy, education and enjoyment. The project investigates how robotic toys can become social mediators, encouraging children with disabilities to discover a range of play styles, from solitary to social...
Studies into the behaviour of children with autism suggest that they show a preference for interacting with objects rather than with other people. People's social behaviour can be very subtle and could seem, to those with communication problems and a deficit in mind reading skills, widely unpredictable. This can present itself as a very confusing and possibly stressful experience to children with...
We propose a method for using surgeon's biological information to evaluate the surgeon's stress in his/her using a surgical assistant system. The surgeon's biological information were saliva and heart rate. The stress was measured by analyzing Cortisol, alpha-amylase, and total protein in saliva, and we analyzed the acceleration plethysmogram variability as the indexes of autonomic nervous activity,...
A "muscle suit" that will provide muscular support for the paralyzed or those otherwise unable to move unaided is being developed as a wearable robot. The muscle suit consists of a mechanical armor-type frame and McKibben artificial muscle. Using a new link mechanism for the shoulder joint which consists of two half-circle links with four universal joints in total mounted at both ends of...
In human-machine social interaction, the intersection between biology and engineering needs a context which allows for the development of adapting dynamics. The android FACE is able to interact with the external environment, interpreting and conveying emotions through non verbal communication. FACE captures expressive and psychophysical correlates from its interlocutor and actuates behaviours following...
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