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This paper presents the results of two years of empirical research with regard to the design of interfaces in human-robot interaction for elderly and disabled persons. Focus is on establishing telemedical services and service robots for homely aftercare and rehabilitation. Within several user studies and clinical trials the aspects of information input with the help of swabbing movements for people...
Touch screen technology has become pervasive in the consumer product arena over the last decade. It offers some distinct advantages over traditional interfaces, including the removal of space consuming peripherals such as mice, keyboards, and joysticks from a system's design. However, there are significant drawbacks to these devices that have limited their adoption by so-called power users. Most notably,...
This paper describes a large-scale experimental study, in which a humanoid robot learned to press and detect doorbell buttons autonomously. The models for action selection and visual detection were grounded in the robot's sensorimotor experience and learned without human intervention. Experiments were performed with seven doorbell buttons, which provided auditory feedback when pressed. The robot learned...
A difference between the human and robots from the viewpoint of motor control is a sampling time in everyday movements. That is, the sampling time for controlling conventional robot systems is required to become approximately 1 ms. On the other hand, the motor control based on human nervous system permits considerably large time-delay due to the transmission latency on afferent/efferent pathways of...
In teleoperation systems, operator performance is negatively affected by time-delayed visual feedback. Predictive display (PD) compensates for delays by providing synthesized visual feedback. While most existing PD methods rely on a priori models (e.g., from laser range finding or stereo vision), recent work on monocular SLAM and SFM makes it possible to acquire PD models in single camera applications...
Visual servoing, using the visual measurements direct in the control loop, is a problem that in recent years has grown in interest. One of the main problems involved in these systems is that, while the robot manipulator has a well known model and identification methods have been available, the vision system introduces a nonlinear transformation and modifies the dynamics as seen in the image plane...
In this paper, a haptically guided teleoperation system which is based on virtual attractive force is introduced. It is well known that haptic feedback can be used to enhance performance of teleoperation systems. When the end-effector is in contact with environment, force/torque sensors can be used to provide real haptic information to operators. Although it is not necessary to provide haptic information...
This paper introduces a use of iterative learning control to improve a performance of arm robot in repeatable task. Iterative learning control aims to converge the repeating distance error produced from arm robot by adjusting the control input in the current run to feedback control system based on error observed from the previous run. The feedback signal to the system is experimentally obtained from...
This paper presents a supervisory system for industrial robots that helps the human operator by taking advantage of cognitive infocommunication channels. The robot is considered as a handicapped worker equipped with limited intelligence but being strong and capable for precise manufacturing, so while the human operator can easily solve the task the robot can extend his/her abilities in the process...
We describe a navigation and coverage system based on unsupervised learning driven by visual input. Our objective is to allow a robot to remain continuously moving above a terrain of interest using visual feedback to avoid leaving this region. As a particular application domain, we are interested in doing this in open water, but the approach makes few domain-specific assumptions. Specifically, our...
Motor imagery based brain computer interface (BCI) technology can be used in motor neurorehabilitation. The use of a BCI as a neuroprosthetic for paralyzed limb assistance implies afferent information flow caused by the feedback. It is an open question whether the proprioceptive feedback causes a bias in the modulation of a motor imagery based BCI control signal. We used a BCI coupled with a robotic...
This paper presents the un-calibrated vision servo control algorithm to track the target with mobile manipulator. Color histogram distance calculation methods and shape matching method are discussed to recognize the target .The on-line estimation algorithm for Image Jacobian matrix model is designed based on the Kalman filter. With this image Jacobian on-line estimator, the visual feedback controller...
This paper applies new cognitive infocommunication channels in human-machine interaction to develop a new paradigm of robot teaching and supervision. The robot is considered as an unskilled worker who is strong and capable for precise manufacturing. It has a special kind of intelligence but it is handicapped in a sense, which requires it to be supervised. If people can learn how to communicate to...
The robust and efficient flight control of insects provide a powerful model system for autonomous microrobots. Conversely, robots offer a robust experimental platform on which to test biological hypotheses. This interaction of biology and robotics is an exciting but challenging task, because the vast disparities between both can lead to inaccurate or even misleading conclusions. In this paper, we...
Presence in virtual environments is achieved when the user is immersed and experiences a sense of realism. Multi-modal feedback is used to create this sense of realism. This study tested the contributions of visual stimuli and haptic effects to the userspsila sense of realism on a walking simulator. Haptic effects were modeled as an icy or a muddy road surface. To determine if the haptic effects modified...
This paper deals with the image-based dynamic visual feedback control via the passivity approach which is investigated in the position-based one. We construct an energy function using the error in the image plane. The passivity of the visual feedback system is derived from the energy function. We show passivity of the image-based dynamic visual feedback system by combining the passivity of both the...
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