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A cable-driven actuating system is proposed in this paper. The proposed system is attractive for rehabilitation systems because the weight of the actuator is not imposed on the human body. Since the end-effector and the actuators are connected by Bowden cables, the humans are allowed to freely move in a certain range while being assisted. However, it is a challenge to account for the variable friction...
Many kinds of multi-fingered hand with many actuators and complex mechanisms have been developed to achieve diversity like human hand. The main focus of our research is achieving such diversity with simple mechanisms. A developed robot hand can use various planar tools which human uses in daily life. For example, scissors, nipper and pliers …etc. In this paper, we introduce a new mechanism with a...
This paper presents a control scheme using human arm dynamics to simulate the subject's volitional movement. To achieve this goal, first, it has to obtain the torques purely generated from the subject from force/torque sensors. With this result, the controller can implement the therapeutic exercises, consisting of the active range of motion (AROM), the active-assistive range of motion (A-AROM), and...
This tutorial provides a synopsis of key findings and theoretical advances from cognitive science and socio-cognitive theory, with examples of how the results of this research can be applied to the design of human-robotic systems. Topics covered will run the gamut from basic cognitive science (e.g., perception, attention, learning and memory, information processing, multi-tasking, conscious awareness,...
Teamwork has become a widely accepted metaphor for describing the nature of multi-robot and multi-agent cooperation. By virtue of teamwork models, team members attempt to manage general responsibilities and commitments to each other in a coherent fashion that both enhances performance and facilitates recovery when unanticipated problems arise. Whereas early research on teamwork focused mainly on interaction...
Kinesthetic teaching is an approach to providing demonstrations to a robot in Learning from Demonstration whereby a human physically guides a robot to perform a skill. In the common usage of kinesthetic teaching, the robot's trajectory during a demonstration is recorded from start to end. In this paper we consider an alternative, keyframe demonstrations, in which the human provides a sparse set of...
This paper describes our approach on the development of the expression of emotions on a robot with constrained facial expressions. We adapted principles and practices of animation from Disney™ and other animators for robots, and applied them on the development of emotional expressions for the EMYS robot. Our work shows that applying animation principles to robots is beneficial for human understanding...
Do individual differences in dispositional behavioral tendencies, such as immersive tendency and need to belong, play a significant role in human-robot interaction? To answer this question, the present study conducted a 2 × 2 between-subjects experiment to examine the effects of immersive tendency (high vs. low) and need to belong (high vs. low) on individuals' perceptions of a social robot. Preliminary...
Theatre with robotic actors is an emerging field, with a few previous published results [1, 2, 3]. On the 14th of October 2011, we performed for a general public audience (over 300 persons) a 18 min long live theatre play, acted by professional actor Xavier Brossard and the LAAS/CNRS PR2 robot. The play was created and directed by Nicolas Darrot, a mixed-media artist from Paris.
The current understanding is that human-likeness of a robot leads to better human perception. However, the factors have not been thoroughly studied. We conducted a laboratory experiment to examine two questions: how verb acquisition ability affects human perceptions on human-likeness and familiarity of a humanoid robot, intention to use the robot, and enjoyment and satisfaction of the interaction,...
An important element of human-robot interaction, as with interhuman interaction, is conversation. Having previously suggested the Gricean maxims as suitable guidelines for social robotics dialogue, we discovered that a preferable alternative set of guidelines: politeness maxims. In this paper, we will introduce the politeness maxims and propose its enhanced applicability in human-robot interaction...
Many different robot learning from demonstration methods have been applied and tested in various environments recently. Representation of learned plans, tasks and policies often depends on the technique due to method-specific parameters. An agent that is able to switch between representations can apply its knowledge to different algorithms. This flexibility can be useful for a human teacher when training...
As robots become increasingly capable and autonomous, the role of a human operator may be to supervise multiple robots and intervene to handle problems and provide strategic guidance. In such cases, the extent to which HRI tools support the human supervisor's situational awareness (SA) and ability to intervene in an appropriate and timely fashion will constrain the scale of operations (e.g., the number...
This paper outlines a new study that investigates spatial language for use in human-robot communication. The scenario studied is a home setting in which the elderly resident has misplaced an object, such as eyeglasses, and the robot will help the resident find the object. We present results from phase I of the study in which we investigate spatial language generated to a human addressee or a robot...
From our ethnographic studies on various kinds of museums, we discovered that guides routinely propose questions to visitors in order to draw their attention towards both his/her explanation and the exhibit. The guides' question sequences tend to begin with a pre-question which serves to not only monitor visitors' behavior and responses, but to also alert visitors that a primary question would follow...
This work aims to realize multimodal interaction with embodied contextual understanding based on the simple chatterbot system. A system framework is proposed to integrate the dialogue system into a 3D simulation platform, SIGVerse to attain multimodal interaction. The chatterbot AIML implementations are described in the achievement of the conversations with embodied contextual understanding in HRI...
Humans regulate their social behavior based on proximity to other social actors. Likewise, when a robot fulfills the role of a social actor it too should regulate its interaction based on proximity. This paper describes work in progress to establish methods for autonomous modification of social behavior based on proximity and to quantify human preferences between methods of scaling a robot's social...
We investigate the use of care-receiving robot (CRR) for the purpose of supporting childhood education. In contrast to the conventional teaching agents that are designed to play the role of human teachers or caregivers, the robot here receives cares from children. We hypothesize that by using this CRR, we may construct a new educational framework whose goal is to promote children's spontaneous learning...
In this paper, I outline the scope and methodology of cultural studies and the possible applications in HRI. It is not just robots that interact with humans, but humans who interact with humans through the medium of robots. Culture is the context that informs all our actions. Cultural theory's eclectic methodology is useful for sifting through a large, multidisciplinary and cross-cultural field like...
Manipulation with soft-fingertips is proposed as a tool for interacting with rigid objects, based on an online bilateral teleoperation fuzzy controller, without time delay. The fuzzy inference engine tunes continuously the force feedback gain to increase awareness of physical interaction so as to grasping is achieved. In contrast to the case of rigid fingertip, wherein infinitely small contact point...
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