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In this paper, we formalize the problem of human interaction with bio-inspired robot teams (HuBIRT). The formalism applies to a large class of bio-inspired team dynamics and uses simple algebraic graph theory representations to distinguish between interagent influence, environmental influence, and operator influence. These representations lead to metrics for interagent cohesiveness and responsiveness...
Exploration of unknown environments has numerous applications in the domains of search and rescue, pursuit-evasion, map building, and military espionage and intelligence gathering. While it is ideal to have autonomous robots search intelligently based on global patterns and features of each environment, such learning algorithms should also be informed by, and perform at least as well as, human exploration...
This paper presents a semi-autonomous navigation strategy aimed at the control of assistive devices (e.g. an intelligent wheelchair) using low throughput interfaces. A mobile robot proposes the most probable action, as analyzed from the environment, to a human user who can either accept or reject the proposition. In case of rejection, the robot will propose another action, until both entities agree...
This study builds upon previous work regarding people's attitudes toward robot workers, identifying the characteristics of occupations for which people believe robots are qualified and desired. This research updates prior research and adds a new dimension of respondent expertise in the domain of robotics (N=392, which includes 134 robotics experts and 258 non-experts). We deployed a web-based survey...
A system for rapidly developing industrial robotic applications with visual hand gestures and voice commands is being developed. This paper reports on the hand gesture recognition component of the system which has been designed and implemented in C# using OpenCV. Seventy two test subjects interacted with the hand gesture component of the system and the empirical results of these experiments are reported...
The research aimed at investigating how self-disclosure of robots affects humans' anxiety and behaviors toward the robots. A psychological experiment (N = 39), comparing between the conditions of no-self-disclosure, positive self-disclosure, and negative self-disclosure from a small-sized humanoid robot, found that the subjects' anxiety toward communication capacity of robots was stable before/after...
A multimodal gesture recognition method is proposed based on Choquet integral by fusing information from camera and 3D accelerometer data. By calculating the optimal fuzzy measures for the camera recognition module and the accelerometer recognition module, the proposal obtains enough recognition rate 92.7% in average for 8 types of gestures by improving the recognition rate approximate 20% compared...
In this paper, a novel haptic interface is proposed for general teleoperation of wheeled and tracked vehicle. The new mechanism of the proposed haptic interface shown in Fig. 1 not only allows human operator to easily tele-operate various types of target vehicles including car-like vehicles, mobile robots, tracked vehicles, but also improve the operators' perception of target vehicles' operating status...
Communication robots are hard to interact with humans autonomously in everyday environment due to lack of intelligence even though robots can perform certainly only in limited environments and limited situations. However, since intelligence of robots is handled by an operator, tele-operated robots are useful to investigate functions required for robots and effects of robots in real-environment. This...
We explore deception in the context of a multi-player robotic game. The robot does not participate as a competitor, but is in charge of declaring who wins or loses every round. The robot was designed to deceive game players by imperceptibly balancing how much they won, with the hope this behavior would make them play longer and with more interest. Inducing false belief about who wins the game was...
In most environments, task collaboration requires efficient, flexible communication between collaborators. In the case of tasks involving human-robot collaboration, the robot must effectively convey and interpret communicative actions about the current and intended state of the task environment and coordinate its behavior with those of its collaborators, human and otherwise. A framework for collaborative...
Promoting dependents' perceptions of point-of-injury care robots as social actors may elicit feelings of companionship and diminish stress. However, numerous rescuers may control these robots and communicate with dependents through the robot, creating communication and interaction challenges that may be best addressed by creating a pure medium robot expressing no social identity. In addition, setting...
With some exceptions, current robotic systems need to be explicitly commanded for interactive tasks with humans. This constraint leads to a reduction in robot-human system level capabilities due to a lack of common grounding, and in addition, the robotic systems are selfcontained with little or no “social” intelligence. A cognitive architecture embodies robotic behaviors and the logical analysis of...
Training home robots to behave like human can help people with their daily chores and repetitive tasks. In this paper, we present Imirok, a system to remotely control robotic arms by user motion using low-cost, off-the-shelf mobile devices and webcam. The motion tracking algorithm detects user motion in real time, without classifier training or predefined action sets. Experimental results show that...
This paper presents our on-going work in developing service robots that provide assisted-care to the elderly in multi-party settings. In typical Japanese day-care facilities, multiple caregivers and visitors are co-present in the same room and any caregiver may provide assistance to any visitor. In order to effectively work in such settings, a robot should behave in a way that a person who needs assistance...
Robotic systems are being introduced into military echelons to extend warfighter capabilities in complex, dynamic environments. While these systems are designed to complement human capabilities (e.g., aiding in battlefield situation awareness and decision making, etc), they are often misused or disused because the user does not have an appropriate level of trust in his or her robotic counterpart(s)...
Pointing gestures are a common and intuitive way to draw somebody's attention to a certain object. While humans can easily interpret robot gestures, the perception of human behavior using robot sensors is more difficult.
By initiating physical contact with people, robots can be more useful. For example, a robotic caregiver might make contact to provide physical assistance or facilitate communication. So as to better understand how people respond to robot-initiated touch, we conducted a 2x2 between-subjects experiment with 56 people in which a robotic nurse autonomously touched and wiped the subject's forearm. Our...
When a robot is said to be a specialist in a particular domain, does it alter the nature and quality of human-robot interaction? This study examines the effects of specialization in robot functions, along with individual difference in immersive tendencies, on users' trust, perception, activity, and memory. In a controlled experiment, 38 participants were taught a physical exercise lesson from either...
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