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In this paper, we develop a multi-human detection system with a team of robots basically in an indoor environment. To start with, we propose a hybrid approach to resolve the problem of human leg detection using Laser Range Finder (LRF) for each robot, that returns not only “true” or “false” type of answer but also a probability. Specifically, the set of measurement data obtained from the laser range...
In recent years, gait robots have become increasingly common for gait rehabilitation in non-ambulatory stroke patients. Cardiovascular treadmill training, which has been shown to provide great benefit to stroke survivors, cannot be performed with non-ambulatory patients. We therefore integrated cardiovascular training in robot-assisted gait therapy to combine the benefits of both training modi. We...
This paper describes a fast turning method for a humanoid robot by using slipping motion with both feet. The humanoid robot, WABIAN-2R, has achieved human-like walking with heel contact and toe off motions by using a human-like foot mechanism with a passive toe joint. The human-like foot enables a robot to turn by using slipping motion between the feet and the ground because it can switch ground contact...
In this paper we present a probabilistic model for spatio-temporal patterns of human activities that enable robots to blend themselves into the work-flows and daily routines of people. The model, called spatial affordance map, is a non-homogeneous spatial Poisson process that relates space, time and occurrence probability of activity events. We describe how learning and inference is made and present...
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...
The role of robots can be changed from labor to leader. In this paper few key issues for robot-based leadership is explained. Specifically this paper highlights the importance of robot-based leadership and provides base for emotion-laden leadership by robots, robot leadership advantages and modes of robot leadership. The role of emotion in leadership is extended to robotic applications and possibility...
This paper presents notions of a novel human-centered, integrated production system based on the intelligent cooperation between humans, robots and automation systems in the clean room context. In semiconductor manufacturing and in particular for short-term interactions with robotic systems like turn taking (an operator performs some work, hands over a lot box to the robot to perform some work and...
This video presents our recent research on the integration of physical human-robot interaction (pHRI) into imitation learning. First, a marker control approach for real-time human motion imitation is shown. Secondly, physical coaching in addition to observational learning is applied for the incremental learning of motion primitives. Last, we extend imitation learning to learning pHRI which includes...
Robotic exoskeletons can apply forces distributed on the limbs of the subject they are connected to. This offers a great potential in the field of neurorehabilitation, to address the impairment of interjoint coordination in hemiparetic stroke patients. In these patients, the normal flexible joint rotation synergies are replaced by pathological fixed patterns of rotation. In this paper, we investigate...
Technology assisted therapy has the potential to transform rehabilitation options available, and to dramatically increase the reach of today's healthcare system. Yet challenges persist in rendering translational application designs that optimize the full potential of technology and create value for the patient and the therapist. In a step towards optimizing value of technologies for practical applications...
This paper discusses a conversation system for robot partners based on informationally structured space using sensor networks. The conversation system is composed of (A) information support mode, (B) daily conversation mode, and (C) scenario conversation mode. The sensor network can extract the states on the person and environment through the informationally structured space, and the information support...
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)...
Ensuring that a particular and unsuspecting member of a group is the recipient of a salient-item hand-over is a complicated interaction. The robot must effectively, expediently and reliably communicate its intentions to advert any tendency within the group towards antinormative behaviour. In this paper, we study how a robot can establish the participant roles of such an interaction using imitated...
Coupled degrees-of-freedom exhibit correspondence, in that their trajectories influence each other. In this paper we add evidence to the hypothesis that spatiotemporal correspondence (STC) of distributed actuators is a component of human-like motion. We demonstrate a method for making robot motion more human-like, by optimizing with respect to a nonlinear STC metric. Quantitative evaluation of STC...
Assistive robotics HRI has a number of important characteristics that distinguishes it from other forms of HRI. This includes the need for both high flexibility, safety and reliability in controlling the robotic system. Approaching the system as a human-robot binomial, with the user and the robot acting in a closed-loop, may be beneficial to understanding and improving the interaction. This paper...
The relationship between philosophy and computer engineering is considered, with particular emphasis upon the design of artificial moral agents. Top-down vs. bottom-up approaches to ethical behavior are discussed, followed by an overview of some of the ways in which traditional ethics has informed robotics. Two macro-trends are then identified, one involving the evolution of moral consciousness (conscience)...
Theories from Network-centric Warfare (NCW) distinguish between network-centric and platform--centric orientations to sensing and control. In platform-centric control the operator(s) access and focus on data through platforms they control, a robot's camera, for example. In network-centric control the operator(s) do not access data through platforms but instead through the network without regard to...
The paper describes emergent verbal behaviour that arises when speech components are added to a robotics simulator. In the existing simulator the robot performs its activities silently. When speech synthesis is added, the first level of emergent verbal behaviour is that the robot produces spoken monologues giving a stream of simple explanations of its movements. When speech recognition is added, human-robot...
The animation techniques of anticipation and reaction can help create robot behaviors that are human readable such that people can figure out what the robot is doing, reasonably predict what the robot will do next, and ultimately interact with the robot in an effective way. By showing forethought before action and expressing a reaction to the task outcome (success or failure), we prototyped a set...
For robots to get integrated in daily tasks assisting humans, robot-human interactions will need to reach a level of fluency close to that of human-human interactions. In this paper we address the fluency of robot-human hand-overs. From an observational study with our robot HERB, we identify the key problems with a baseline hand-over action. We find that the failure to convey the intention of handing...
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