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Facial expression has an important role for natural interaction among social robots and humans. In this paper, an architecture conceived for imitation of facial expressions is proposed. We describe the computer vision algorithm that was implemented for real-time geometric facial features extraction. It covers face detection, extraction of eyes, eyebrows, nostrils and mouth characteristic points, as...
In this paper, we are interested in a scheme that proves effective use of soft fingertips for human-in-the-loop telemanipulation. Motion planning is carried out by the human-in-the-loop to grasp and manipulate an object using viscoelastic soft fingertips. In addition, to grasp an object firmly, an estimated torque is synthesized based on fuzzy inference. Experimental results show that the user confidence...
This paper presents a state space model for a multiperson ensemble and an estimation method of the onset timings, tempos, and leaders. In a multiperson ensemble, determining one explicit leader is difficult because (1) participants' rhythms are mutually influenced and (2) they compete with each other. Most ensemble studies however assumed that one leader exists at a time and the others just follow...
To design a robot with humanlike body structure, this paper presents a design methodology for a humanoid upper limb by tendon driven system. We newly designed an upper limb and rib cage like thorax for a musculoskeletal humanoid robot, based on the knowledge of anatomy. The robot consists of muscle, bone, and joint structure based on human and is expected to move flexibly and dynamically. This paper...
Multi-fingered robot grasping is a challenging problem that is difficult to tackle using hand-coded programs. In this paper we present an imitation learning approach for learning and generalizing grasping skills based on human demonstrations. To this end, we split the task of synthesizing a grasping motion into three parts: (1) learning efficient grasp representations from human demonstrations, (2)...
This paper presents an electromyographic-based human-machine interface for the agonist-antagonist system with two pairs of pneumatic artificial muscles (PAMs) that replicates the human elbow-joint system. We introduce the novel concepts of agonist-antagonist muscle-pair ratio (A-A ratio) and agonist-antagonist muscle-pair activity (A-A activity) to link the human muscle system to the PAM system, and...
Future autonomous service robots are intended to operate in open and complex environments. This in turn implies complications ensuring safe operation. The tenor of few available investigations is the need for dynamically assessing operational risks. Furthermore, a new kind of hazards being implicated by the robot's capability to manipulate the environment occurs: hazardous environmental object interactions...
Virtual networking method for multi-robot navigation is proposed. This method is suitable for the collaboration of the robots that supports human workers in offices, factories, or disaster areas. In this method, virtual nodes and their forwarding tables are constructed on each robot according to DSDV routing protocol. These virtual information navigates the robot to its destination. The data volume...
The quantitative evaluation of product usability is important for product design. In this paper, we propose an evaluation system for product usability using a human mimetic robot hand with a tendon skeletal model. The proposed system enables us to evaluate product usability of a physical object, such as a prototype. To realize the system, we developed a robot hand which has a human mimetic structure...
Aircrew of a modern combat aircraft is exposed to hazardous effects of high G-forces and high angular velocities. In order to protect human lives and to avoid material losses, High-G training in human centrifuge is used to artificially increase accelerative force under controlled conditions. In this paper, centrifuge is modeled as 3 DoF revolute robot manipulator with planetary, roll and pitch axis...
It may be difficult task for physically weak elderly, disabled and injured individuals to perform the day to day activities in their life. Therefore, many assistive devices have been developed in order to improve the quality of life of those people. Especially upper-limb power-assist exoskeletons have been developed since the upper limb motions are vital for the daily activities. Electromyography...
Attention and emotions are two major functions underlying human behavior. Evidence shows that these two processes interact extensively in the human brain. In fields such as human-computer interactions and artificial intelligence, computational models of attention and emotions have been developed to be included in cognitive agent architectures. However, these have been implemented as two separated...
Neural tube defects (NTDs) are common, severe congenital malformations. Gene BRCAl encodes a nuclear phosphoprotein that has a role in maintaining genomic stability, and it also acts as a tumor suppressor. Inositol 1,3,4-trisphosphate 5/6-kinase (ITPK1) is a key regulatory enzyme at the branch point for the synthesis of inositol hexakisphosphate (IP6), an intracellular signaling molecule. Both genes...
In this paper, a real time virtual simulation framework which is the foundation for studying human adaptive mechatronics (HAM) is proposed. This framework allows researchers to interact and experiment with the system in real time. Thus, motion control patterns can be identified and learned with, for example, a heuristic strategy. The prototype is developed with an underactuated pendulum-driven capsule...
The paper presents the usage of a prototype DSO cognitive architecture (DSO-CA) for mobile surveillance. DSO-CA is able to bring to bear different types of knowledge to solve problems. It imbues mobile robots with intelligent capabilities like reasoning and adaptive path planning in dynamic environments, and achieves human-inspired object recognition. These intelligent robotic movements and object...
Rehabilitation robotics has been one of the most important branches of robotics. Particularly, the exoskeleton device for the upper limb rehabilitation develops fast in recent years, but most of them are heavy and large. In this paper, we proposed a light and wearable exoskeleton device which is potential to be used in home rehabilitation. It should be able to perform passive and active training....
In this research, the authors aimed to mining Life logs for developing a user model-based service application. Life logs can be constructed by analyzing Motion logs, which are obtained from questionnaires, or motion data collected from sensors. And the user models, which help applications to provide appropriate service, can be constructed by mining these Life logs.
Physical-virtual humans combine work in physical animatronics and virtual humans to achieve virtual humans with physical manifestations. In this article I introduce the idea of a physical-virtual human along with potential applications, potential concerns, and some historically related work. I then discuss challenges and opportunities related to applications involving physical-virtual avatars, patients,...
Users' experience of interacting with a robot is mediated by the context that characterizes the co-existence of the human and the robot. However, it has been difficult to study the role of social context in human-robot interaction (HRI) in experimental settings. In this research, we evaluated how social context influenced user acceptance of social robots in a controlled experiment. Using video scenarios...
The number of elderly population is increasing worldwide and often they need assistance in their daily activities. In many situations, these elders are placed in elderly care facilities in order to receive continuous assistance from the human caregivers. The caregivers usually keep a watchful eye on the elders and help them in their activities of daily living. However, study shows that the human caregivers...
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