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This paper proposes a Kinect-based calling gesture recognition scenario for taking order service of an elderly care robot. The proposed scenarios are designed mainly for helping non expert users like elderly to call service robot for their service request. In order to facilitate elderly service, natural calling gestures are designed to interact with the robot. Our challenge here is how to make the...
During decision making and acting in the environment humans appraise decisions and observations with feelings and emotions. In this paper we propose a framework to incorporate an emotional model into the decision making process of a machine learning agent. We use a hierarchical structure to combine reinforcement learning with a dimensional emotional model. The dimensional model calculates two dimensions...
For service robots to be able to enter a multi-human office environment, it is important to find a group of human users' social patterns and then to provide a proper service to them in time. Usually, human users' social patterns are represented in terms of nonverbal social signals. In this paper, a new integrated approach on recognizing multi-human social signals is proposed. Specifically, the nonverbal...
In this paper, we introduce a simulation approach for emulating a real-world human recognition system called a Perception Sensor Network (PSN). The proposed PSN system has fusion components for automatic localization and facial recognition that uses multiple Kinect sensors and pan-tilt-zoom (PTZ) cameras. We verified that the generic vision schemes utilized in human detection and facial recognition...
Robotic prosthesis are usually intended as artificial device extensions replacing a missing part of a human body. A new approach regarding robotic limbs is presented here. A modular robot is used not only for replacing a missing part of the body but also as an extra-limb in order to enhance manipulation dexterity and enlarge the workspace of human beings. In this work, the model and control of an...
Conventional kinematic studies of serial manipulators involve the proper selection of coordinate frames of reference at appropriate positions. The standard practice, being used in the past, is the use of Denavit-Hartenberg (D-H) algorithm for assigning coordinate frames. However, it has been observed that when an open kinematic chain contains a spatial link with two consecutive joint axes at right...
Robot navigation in human environments is an active research area that poses serious challenges. Among them, social navigation and human-awareness has gain lot of attention in the last years due to its important role in human safety and robot acceptance. Learning has been proposed as a more principled way of estimating the insights of human social interactions. In this paper, inverse reinforcement...
Achieving seamless human-robot cooperation requires the robot to recognize its surroundings and be aware of human actions and their implications. Still, no recognition method, e.g., for objects or actions, can achieve zero failure rates. Thus, robotic actions might be selected and planned based on false assumptions. This inherits risks for humans and machinery. Consequently, the verification of plausibility...
Children's oral language skills in preschool can predict their academic success later in life. As such, increasing children's skills early on could improve their success in middle and high school. To this end, we propose that a robotic learning companion could supplement children's early language education. The robot targets both the social nature of language learning and the adaptation necessary...
Speech Recognition has not fully permeated in our interaction with devices. Therefore we advocate a speech recognition friendly artificial language (ROILA) that initially was shown to outperform English, however under constraints. ROILA is intended to be used to talk to robots and therefore in this paper we present an experimental study where the recognition of ROILA is compared to English when speech...
In this paper, we study how human-robot interaction can be beneficial on the Continuous Goal-Directed Actions (CGDA) framework. Specifically, a system for robot discovery of motor primitives from random human-guided movements has been developed. These guided motor primitives (GMP) are used as scaffolds to reproduce a goal-directed actions. CGDA encodes goals as the changes produced on object features...
Legged systems are potentially expected to have outstanding mobility. However, they have shown only modest levels of capability to traverse on flat ground. This paper introduces a biped robot inspired by the hind limbs of cats. We present the characteristics of the system and conduct a position analysis based on vector loop equations. Afterwards, the ground clearance and parallel movement of the robotic...
Currently, high-level task control of robots is generally performed by using a graphical interface on a desktop or laptop computer. This type of mediated interaction is not natural, and can be problematic and cumbersome for persons with certain types of motor disabilities, and for people interacting with the robot when there are no computer displays present. In this work, we present a framework which...
This paper reports on the findings from an experiment on human performance in tactile language learning and tactile memory. A set of vibrotactile patterns representing verbal words was presented to a group of 20 voluntary subjects. Upon learning, subjects were capable of recognizing the patterns with high accuracy. Patterns were then combined with the aim of constructing sentences that gradually represent...
We present a software architecture and an interaction scenario for an autonomous robot toddler designed to support the development of self-efficacy in diabetic children, and discuss its potential medical benefits. We pay particular attention to the affective and social aspects of the interaction, as well as the importance of autonomy in the robot, examining their relationships to our scientific and...
In this study, we developed and evaluated a tactile stimulation device for upper extremity motion guidance. The developed device stimulates skin pressing directly using “tapping.” A minimal number of actuators are used in the tactile stimulation device that is worn on the wrist. The device consists of six Tiny Ultrasonic Linear Actuator (TULA) modules, a control circuit, an upper case, and a lower...
Social Playware is regarded as cyber-physical systems to support and enhance the experiences on play and social interaction among people by measuring and presenting physical contacts, spatial movement and facial expression. Several wearable or modular devices are used in this study, which enable behavior and affective measurements. It is aimed not only to integrate cyber and physical spaces by using...
This study proposes a gaming companion robot to facilitate social interaction among children. Games have been one popular social communication tool for people, and we propose a novel approach to gaming communication using a robot. We have implemented a robot that is capable of playing a video game to facilitate social interaction in a game environment. We used autonomous control to allow the robot...
This paper describes a tangible interface, Playte, designed for children animating interactive robots. The system supports physical manipulation of behaviors represented by LEGO bricks and allows the user to record and train their own new behaviors. Our objective is to explore several modes of interaction, i.e. direct remote control, tangible programming, programming by demonstration, and programming...
In natural human-human task descriptions, the verbal and the non-verbal parts of communication together comprise the information necessary for understanding. When robots are to learn tasks from humans in the future, the detection and integrated interpretation of both of these cues is decisive. In the present paper, we present a qualitative study on essential verbal and non-verbal cues by means of...
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