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We propose a shared control architecture to enable the modeling of human-in-the-loop cyber physical systems (HiLCPS) in robotics applications. We identify challenges that currently hinder ideas and concepts from cross-domain applications to be shared among different implementation of HiLCPS. The presented architecture is developed with the intent to help bridge the gap between different communities...
People will eventually be exposed to robotic agents that may protest their commands for a wide range of reasons. We present an experiment designed to determine whether a robot's appearance has a significant effect on the amount of agency people ascribed to it and its ability to dissuade a human operator from forcing it to carry out a specific command. Participants engage in a human-robot interaction...
We present a modeling approach to develop an agent that assists users discreetly in teleoperation when avateering a robot via an inexpensive motion sensor. Avateering is a powerful metaphor, and can be an effective teleoperating strategy. Avateering a Humanoid Robot (HR) with no wearable device encumberment, such as using the popular Kinect/NUI motion sensor, is also desirable and very promising....
In daily human interactions, spatial reasoning occupies an important place. In this paper we present a situation assessment reasoner that generates relevant symbolic information from the geometry of the environment with respect to relations between objects and human capabilities. The role of SPARK (SPAtial Reasoning and Knowledge) component is to permanently maintain a state of the world in order...
Telenoid, a teleoperated android, is a medium through which teleoperators can transmit both verbal and nonverbal information to interlocutors. Telenoid promotes conversation with its interlocutors, especially elderly people. Nevertheless, since teleoperators admit that they have difficulty feeling that they are actually teleoperating their robots, they cannot use them effectively to transmit nonverbal...
With robots becoming more prevalent in daily life, it is important to understand human attitudes toward robots not only when humans interact with them directly, as most research examines, but also when people are indirectly exposed to robots performing nonsocial tasks (e.g., cleaning) in their vicinity. Because minimalistic robots are at present more likely to be found in households than human-like...
Predicting the sensory consequences of an agent's own actions is considered an important skill for intelligent behavior. In terms of vision, so-called visual forward models can be applied to learn such predictions. This is no trivial task given the high-dimensionality of sensory data and complex action spaces. In this work, we propose to learn the visual consequences of changes in pan and tilt of...
The objective of this study is to examine the effect of the robot types on emotional engagement with robots. Robots are classified into an autonomous robot and a tele-operated robot according to the levels of autonomy. On the contrary, robots could be distinguished depending on the levels of human intervention required for controlling a robot. An autonomous robot performs task by itself while a tele-operated...
In order to investigate what type of experiences of robots influences negative attitudes toward them, an online survey (N = 1,200) was conducted in Japan, by using the Negative Attitudes toward Robots Scale (NARS). The results suggested that (1) there were almost no strong relationships between types of robot experiences and gender, and age, (2) the correlations between negative attitudes toward robots...
This paper presents a modified master-slave motion mapping method for space teleoperation using haptic device with limited workspace. The method combines rate control and a variable scaled position mapping to realize accurate and efficient teleoperation. Haptic feedback in these two mapping modes is designed with emphasis on ergonomics to improve immersion of teleoperation. A dead zone is defined...
Negative attitudes towards robots are common and pose an obstacle for successful and pleasant human-robot interaction. To reduce negative attitudes in the context of social robotics, we draw upon social psychological methods of attitude change. Imagined contact represents one such paradigm which to date has mostly been tested and validated in the human-human intergroup context. In the present experiment,...
This paper proposes a new interaction mechanism for tele-operating a mobile robot. The approach explores the notion of telepresence and physical embodiment to create what may be called tele-embodiment. Its principle is that the operator will see himself at the remote site and this will enable him/her to better operate the robot. Four interaction styles were experimentally compared, from the traditional...
We performed an experimental study (n=48) of the effects of context congruency on human perceptions of robotic facial expressions across cultures (Western and East Asian individuals). We found that context congruency had a significant effect on human perceptions, and that this effect varied by the emotional valence of the context and facial expression. Moreover, these effects occurred regardless of...
Modular robots present many advantages that open opportunities for novel applications and greater variability in operational parameters. We present PetRo (which stands for Pet Robot) as a modular throwable, self-assembling and reconfigurable pet robot. Some of the design challenges and solutions selected are explained as well as the two main applications for which the robot architecture is being developed:...
The role of emotions in social scenarios is to provide an inherent mode of communication between two parties. When emotions are properly employed and understood, people are able to respond appropriately, which further enhances the social interaction. Ultimately, effective emotion execution in social settings has the capability to build rapport, improve engagement, optimize learning, provide comfort,...
Visual color information is thought to affect human perception. This study proposes a master-slave system that performs force feedback compensation control based on the color of the target object. In this system, the ratio between forces exerted during tasks performed on dark and bright objects is used as a compensatory gain in the feedback force. The system is designed to maintain task consistency...
we describe a novel robotic neck mechanism that supports realistic human head motion. Our design uses a 3-DOF spherical neck inspired by the 2-DOF spherical wrist of the Orthoglide 5-axis industrial robot. We use a gimbal-like mechanism to combine three 1-DOF motion components to rotate the head about a common point and around the three principal axes. Based on this design, we implemented and compared...
We present an automated solution for the acquisition, processing and classification of electroencephalography (EEG) signals in order to remotely control a remotely located robotic hand executing communicative gestures. The Brain-Computer Interface (BCI) was implemented using the Steady State Visual Evoked Potential (SSVEP) approach, a low-latency and low-noise method for reading multiple non-time-locked...
The feedback of a robot is a powerful means to establish smooth human-robot interaction (HRI). We report on a user study to assess the applicability of a screen in a human-robot game-playing scenario. The screen was deployed to compensate for expressive shortcomings of a social robot due to its mechanical limitations of non-movable facial features. The participants played Rock-Paper-Scissors with...
Robots that engage in social behaviors benefit greatly from possessing tools that allow them to manipulate the course of an interaction. Using a non-anthropomorphic social robot and a simple counting game, we examine the effects that empathy-generating robot dialogue has on participant performance across three conditions. In the self-directed condition, the robot petitions the participant to reduce...
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