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Industrial equipment, such as bulldozers, excavators, and cranes, requires human operation. Construction machines with better operability are necessary in order to improve productivity. The evaluation of such operational equipment is performed in order to obtain better operability, at the design stage, by sensory evaluation from a specific evaluator. Therefore, the design and evaluation of operational...
While the ability to perceive attitude in 3D trajectory of the movement is a basic concept of a motion capture, a 9-axis inertial measurement unit (IMU) device containing accelerometer, gyroscope and magnetometer is introduced as a challenge for motion tracking device. In this paper, a modular architecture in terms of accuracy on orientation of the sensor output, implemented for wearable motion capture...
In human face-to-face communication, embodied sharing using the synchrony of embodied rhythms is promoted by embodied interactions. Therefore, embodied interactions are important for smoothly initiating coexistence and communication. When there is embodied interactions with direct contact, it plays to synchronize embodied rhythms effectively. Hug behavior is one of the types of embodied interactions...
A key challenge in the automatic verification of robot mission software, especially critical mission software, is to be able to effectively model the performance of a human operator and factor that into the formal performance guarantees for the mission. We present a novel approach to modelling the skill level of the operator and integrating it into automatic verification using a linear Gaussians model...
In highly dynamic domains like mobile robotics, it is essential to keep human in the control loop of the process and to maintain his/her situation awareness through adequate levels of automation. Our paper is focused on how to better match human and machine capabilities defining adaptive levels of automation. A method based on human-machine cooperation concepts which allow designing different possible...
With the rapid development of inspection techniques, more emphases should be placed on the improvement of the reliability, safety and intelligence of the robot system. In this paper, a framework for the patrol robot that automatically finishes complex task and motion planning in the indoor substation is proposed. To realize real-time response to the environmental changes, the proposed framework keeps...
It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the robot is rarely static, and it often has many moving obstacles. The robot may encounter one, or many of these unknown and unpredictable moving obstacles. The robot...
A novel hexapod-quadcopter robot was developed with multicopter flight hardware directly embedded in the hexapod legs. This paper discusses the locomotion implementations for walking and flying in addition to transitional procedures necessary to switch between these two modes of operation. The algorithms were programmed using Robot Operating System on the 3D printed robot and tested to verify feasibility...
This study extends existing Rubber Hand Illusion (RHI) experiments to employ life-size full-body humanlike android robot to investigate body ownership illusion and the sense of agency. For this study, we designed a novel experimental setting. The android robot moved synchronously with a participant's head and arm motion. Furthermore, a stereoscopic camera was mounted on the android's head and the...
We investigate the effect of dominant and submissive movement strategies and a movement cue in a human-robot cooperation scenario on perceived predictability and trust. Four different movement strategies in proximal cooperation between a robot manipulator and a human participant were tested in an experiment in which participants had to arrange small objects in a shared workspace working on the same...
In recent years, significant research has been conducted on grasp planning for multifingered robot hands. These studies have focused on determining how to obtain suitable grasps from among an infinite number of candidate grasps. This domain's goal is a successful application to unknown environments through the adoption of the extracted grasps. Under difficult conditions, such as grasping a target...
The paper describes human-interactive robot that supports gait training base on autonomous evaluation and navigation of human body movements. Robotic intervention in gait training is a promising method for prospective rehabilitation. In literature, gait training platforms such as power assisting limbs and body supporting mobile platforms have been studied well. These types of platforms, however, mainly...
Medical imaging introduced the greatest paradigm change in the history of modern medicine, and particularly ultrasound (US) is becoming the most widespread imaging modality. The integration of digital imaging into the surgical domain opens new frontiers in diagnostics and intervention, and the combination of robotics leads to improved accuracy and targeting capabilities. This paper reviews the state-of-the-art...
Proactive cognitive agents need to be capable of both generating their own goals and enacting them. In this paper, we cast this problem as that of maintaining equilibrium, that is, seeking opportunities to act that keep the system in desirable states while avoiding undesirable ones. We characterize desirability of states as graded preferences, using mechanisms from the field of fuzzy logic. As a result,...
A relevant issue of neuro-interfacing wearable robots in rehabilitation is the necessity to have training data, since the collection of sufficient data from patients within a reasonable recording time is not always possible. However, the use of historic data (e.g., session-to-session transfer, subject-to-subject transfer) can often lead to a reduction in classification performance which is affected...
Autonomous mobile robots have been deployed at hospitals to cope with numerous delivery services. Robots deliver items from point to point through autonomous navigation. Conventional robots work individually conducting only one task at a time. This paper proposes a fleet optimization method to maximize the advantages of operating a group of robots concurrently by assigning multiple tasks to a robot...
Aging society in Japan can be a big serious problem. However, the number of caregivers is currently not enough, and it is not expected to sufficiently increase in future. Elderly care has been shifting from hospital care to community-based care and home care, but this can lead to raise the burden on their family members. Therefore, elderly people should take care of their heath in daily life in order...
This paper presents a new stereo configuration based on sensor rotation. Different from the traditional stereo vision system which consists of multiple cameras, our rotational stereo device is built with a single image sensor. By constraining the sensor's planar motion perpendicular to the optical axis with an offset to the axis of rotation, the visual parallax can be generated with multiple viewpoints...
Unmanned Surface Vehicles (USV) with capabilities of mobile sensing, data processing, and wireless communication have been deployed to support remote aquatic environmental monitoring. This paper introduces a sampling planner for spatiotemporal survey of an aquatic environment using a USV-based sensing system. The sampling planner is proposed to distribute the Sampling Locations of Interest (SLoIs)...
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