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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...
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...
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,...
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...
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...
Sociability of companion robots is one of the challenges that the field of human-robot interaction faces. Inspired from research in psychology and sociology dealing with inter-personal relationships, we aim to render robots capable of a behaviour compatible to be among humans. In the context of a companion robot for children, we propose different parenting styles (namely authoritative and permissive)...
Service robots employed in public spaces need to be equipped with specific sensing, reasoning and human-robot interaction capabilities to adapt their interaction style and thus effectively engage with a variety of users. In this paper we present a method used by an ubiquitous robotic system to gather 3D body metrics and use them to robustly estimate age and gender of previously unseen participants...
In a previous study, we developed an embodied virtual communication system for human interaction analysis by synthesis in avatar-mediated communication and confirmed the close relationship between speech overlap and the period for activating embodied interaction and communication through avatars. In this paper, we propose an interaction-activated communication model based on the heat conduction equation...
This paper approaches the issues of human-robot interaction in extreme human-robot interface situations, defined as those which provide a real physical intervention in a person's body by a robot. Robots that belong to this group perform tasks such as tattooing, collecting blood and doing surgery. Authors use a Lynxmotion AL5B mechanical arm controlled via Botboarduino named BOTicelli to make simple...
In HRI, many researches emphasize the impact of the human user's personality (expressed mainly through the Extroversion dimension) over the perception of the robot's behavior. In our experiment, where participants interacted/used a novel driving assistance system, we focused on analyzing the role of each BigFive Personality dimension in people's task performance and in their reaction towards the vocal...
Many robots capable of performing social behaviors have recently been developed for Human-Robot Interaction (HRI) studies. These social robots are applied in various domains such as education, entertainment, medicine, and collaboration. Besides the undisputed advantages, a major difficulty in HRI studies with social robots is that the robot platforms are typically expensive and/or not open-source...
In this paper we present results from a user evaluation of a robot bartender system which handles state uncertainty derived from speech input by using belief tracking and generating appropriate clarification questions. We present a combination of state estimation and action selection components in which state uncertainty is tracked and exploited, and compare it to a baseline version that uses standard...
This research explored whether robots can use modern speech synthesizers to convey emotion with their speech. We investigated the use of MARY, an open source speech synthesizer, to convey a robot's emotional intent to novice robot users. The first experiment indicated that participants were able to distinguish the intended emotions of anger, calm, fear, and sadness with success rates of 65.9%, 68...
We studied educational support delivered through a care-receiving robot (CRR) in a children's group activity intended to promote the learning of English words by teaching the robot. Our prior study investigated the feasibility of the CRR for providing educational support in a situation where a child played with the robot by him/herself. Our research uncovered several impactful effects of the CRR for...
Language offers the possibility to transfer information between speaker and listener who both possess the ability to use it. Using a “speaker-listener” situation, we have compared the verbal and the emotional expressions of neurotypical and autistic children aged 6 to 7 years. The speaker was always a child (neurotypical or autistic); the listener was a human InterActor or an InterActor robot, i.e...
Recognizing a person from a distance is important to establish meaningful social interaction and to provide additional cues regarding the situations experienced by a robot. To do so, face recognition and speaker identification are biometrics commonly used, with identification performance that are influenced by the distance between the person and the robot. This paper presents a system that combines...
In this paper, we present a novel interface for teleoperating ground vehicles. Obstacle avoidance with ground vehicles demands a high level of operator attention, typically distracting from the primary mission. The Ambient Obstacle Avoidance (AOA) was designed to allow operators to effectively perform a primary task, such as search, while still effectively avoiding obstacles. The AOA wraps around...
The teacher-learner constellation is a special one in Human-Robot Interaction (HRI), as it can essentially improve intuitive interaction with robots. In a 2 (background: programmer vs. non-programmer) × 3 (teacher: self vs. believed other vs. other) between participants experiment (n=48, counter-balanced in gender), participants kinesthetically taught a humanoid NAO robot a specific behavior, which...
Human guide robots need to generate a trajectory from human training. The popular work space methods have to calculate the inverse kinematics. While the joint space methods need the dynamic time warping. These destroy the accuracy of the trajectory model. In this paper, we use Lloyd's algorithm to hidden Markov model (HMM). The advantages of the method over the other HMM are the time difference does...
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