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Intelligent personalized systems often ignore the affective aspectof human behavior and focus more on tactile cues of the useractivity. A complete user modeling, though, should also incorporatecues such as facial expressions, speech prosody and gesture orbody posture expressivity features, in order to dynamically profile the user, fusing all available modalities since these qualitative affective cues...
This concept paper suggests a new way of thinking about the origin, growth, and spread of a general-purpose "scientific habit of mind" in humans, and discusses how intelligent coaching agents may help. The argument begins with a description of the role of the cognitive cycle in animal thinking. We then examine critical differences between non-human and human cognition, especially in respect...
The multi-fingered robot hand has much attention in various fields. Many robot hands have been proposed so far. However, the robot hand cannot execute any tasks autonomously because the robot hand does not have enough motion and sensing ability to task complexities. Therefore, we have developed a robot hand teleoperation system with the motion capture data glove CyberGlove. Here, each joint of the...
A wearable elbow joint with three passive joints is proposed in this paper. The joint has an advantage of easy attachment to a human arm, without thorough adjustment when attached. This paper describes kinematics, statics and a prototype of the proposed joint, and then reports results of preliminary evaluation.
Social interaction and group coordination are important factors in the simulation of human crowd behavior. To date, few simulation methods have been informed by models of human group behavior from the social science studies. In this paper we advance a computational model informed by Common Ground (CG) Theory that both inherits the social realism provided by the CG model and is computationally tractable...
This article deals with the mode analysis of the kinematic structure of human locomotion. We investigated human locomotion using singular value decomposition. From motion-captured data of human locomotion, we extracted common basic movements and residual modes, and analyzed the kinematical structures. The results show the joint synergy that is derived by the residual modes (expresses strong dependencies...
Slight differences between a learning target motion and motions performed by learners are not easy for learners to recognize, when some adjustments are needed by learners for learning motions. To assist human-learners recognize the slight differences in motions, not only symbolic expressions but also motion display plays very important role. In the previous work, we proposed a motion coaching system...
In this work, we propose a system that has the ability to reproduce imitated motions of human during continuous and online observation with a humanoid robot. In order to achieve this goal, the problems for imitation have to be solved. In this paper, we treat two main issues. One is mapping between different kinematic structures and the other is computing humanoid body pose that satisfies the static...
In agent based modeling many approaches are used for modeling agents' behavior. They range from relaxing the rationality assumption to considering participants' behavior in experiments. Important suggestions come from qualitative research in particularly from social sciences. We propose an approach to model artificial agents by applying Glaser and Strauss Grounded Theory. As an example, we ran an...
Many robots are designed so that the number of their actuators is as small as possible to decrease their weight. In many cases, the number of actuators in robots is smaller than that of muscles in animals. We propose the method to increase the dexterity of the robot without increase of actuators. The link made from shape memory gel (SMG) is deformed to be suitable for each task of the robot. The methods...
Obesity is a growing health problem in the United States, especially among children. Indicators show that the rate of obesity for children age 12–19 years old has risen from 5% percent to 18% over the last ten years. To deal with the obesity epidemic, a number of technology interventions, including the use of robotics and virtual reality games, have arisen to motivate youth to become physically active...
This paper presents the design and kinematic analysis of a home service robot that is aimed for performing not only table tasks but also floor tasks. The robot has a structure of a mobile manipulator that has two wheels and two arms. One typical design of the robot is to have long arms to reach objects on the floor with ease. The robot is beneficial to homes where people live on the floor. The robot...
A variety of interaction models among agents have been developed, however the research about human attitude toward multiple robot interaction has been out of research focus. While a service robot interacts with more human users, multi-robots interact with humans and even with other robots. In the environment, the interactive behavior of human is affected by multiple robotic interactions. This paper...
This paper describes the mechanism of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The jumping robot has a waist, a thigh, a shin, and a foot. It weighs 6.5 [kg], and is 594 [mm] tall. It has a total of 9 actuators: 6 mono-articular types and 3 bi-articular types. A pneumatic artificial muscle actuator that can expand radially and contract axially is used...
This paper studies the feasibility of emergency response humanoid robots. The 2011 Tohoku Earthquake was the most powerful earthquake ever measured in Japan. It is also referred to as the Great East Japan Earthquake and happened on March 11, 2011. Following the earthquake, several tsunami hit the Pacific coast of eastern Japan and damaged the Fukushima Daiichi Nuclear Power Plant. Some robots are...
Three different approaches of having a full-size humanoid throw the first pitch at a Major League Baseball game are tested and implemented. The approaches include kinematic mapping using a motion capture system to capture a human's throwing motion then mapping that to a full-size humanoid. The second method is a fully automated approach that uses the sparse reachable map to provide viable full body...
The development of Affective Computing has witnessed tremendous number of studies about facial and vocal expression, while bodily expression only comprises the minority. However, with the emerging of social signal processing, people have paid more attention to the significant role of body language in social communication and emotional expression. One situation when body language shows its importance...
Skeleton animation motion data is the connection of motion capture and computer skeleton animation technologies. This paper presents a method which creates standard motion data file in real time. First, get original coordinate data of human skeleton joints by Kinect, Then, calculate the original coordinate data to get rotation angles and save them as the standard BVH motion capture file, Finally,...
Bionic knee was important basic driving element for biped robot. with the adult male's right leg knee working as bionic prototype, the three-dimensional finite element model was established, and the cinnections balance equation was established with the help of nonlinear contact theory, then system penalty function was used to deal with the contact constraint by considering the minimum potential energy...
This paper investigates open-loop control, which does not need the joint angles and velocities, for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design...
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