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The most recent European and American Roadmaps for robotics point out the role that robotics will play in people's lives in the coming years, constituting an important tool to support everyday life. The main change is associated with a greater proximity and interactivity of robots with people, influencing their lives, such as unmanned vehicles, personal robotics, assistive robotics, etc. Certainly,...
In this paper, an impedance control strategy is proposed for a rigid robot collaborating with human by considering impedance learning and human motion intention estimation. The least square method is used in human impedance identification, and the robot can adjust its impedance parameters according to human impedance model for guaranteeing compliant collaboration. Neural networks (NNs) are employed...
While the extension of healthy life expectancy has become an important issue, demands of the health care are growing. In the robot industry, the societal implementation of robots for the health care has proceeded in order to respond to these demands. In this paper, considering the present situation, we propose the design policy of the therapeutic robot system which provides care according to the situation...
Many novel physical assistance devices are beginning to incorporate intelligent robotic systems and mechatronic components. In terms of a human-centered design it is crucial to assess the perceived subjective usability and acceptance of these systems. A questionnaire was thus designed to evaluate novel physically assisting devices in order to support developers in their design decisions as well as...
Nowadays, robots are gradually appearing in public spaces such as libraries, train stations, airports and shopping centres. Only a limited percentage of research literature explores robot applications in public spaces. Studying robot applications in the wild is particularly important for designing commercially viable applications able to meet a specific goal. Therefore, in this paper we conduct an...
We conducted three experiments to discover the effect of a virtual agent's state transition on a user's eye gaze. Many previous studies showed that an agent's state transition affects a user's state. We focused on two kinds of transitions, the internal state transition and appearance state transition. In this research, we used a product recommendation virtual agent (PRVA) and aimed to discover the...
Interactions with simulated robots are typically presented on screens. Virtual reality (VR) offers an attractive alternative as it provides visual cues that are more similar to the real world. In this paper, we explore how virtual reality mediates human-robot interactions through two user studies. The first study shows that in situations where perception of the robot is challenging, a VR display provides...
Children are eager to anthropomorphize (ascribe human attributes to) social robots. As a consequence they expect a more unconstrained, substantive and useful interaction with the robot than is possible with the current state-of-the art. In this paper we reflect on several of our user studies and investigate the form and role of expectations in child-robot interaction. We have found that the effectiveness...
This paper presents the effects of being hugged by a robot to encourage prosocial behaviors. In human-human interaction, touches including hugs are essential for communication with others. Touches also show interesting effects, including the “Midas touch,” which encourages prosocial behaviors from the people who have been touched. Previous research demonstrated that people who touched a robot experienced...
Emotions are considered by many researchers as beneficial elements in social robotics, since they can enrich human-robot interaction. Although there have been works that have studied emotion expression in robots, mechanisms to express emotion are usually highly integrated with the rest of the system. This limits the possibility to use these approaches in other applications. This paper presents a system...
Affective facial expression is a key feature of nonverbal behaviour and is considered as a symptom of an internal emotional state. Emotion recognition plays an important role in social communication: human-to-human and also for human-to-robot. Taking this as inspiration, this work aims at the development of a framework able to recognise human emotions through facial expression for human-robot interaction...
Communication atmosphere in Human-Robot Interaction (HRI) is estimated by integrating emotional states of humans and robots based on the concept of Fuzzy Atmosfield (FA), where human emotion is estimated from bimodal communication cues (i.e., speech and facial expression) and robot emotion is generated by emotional expression synthesis. Fuzzy Analytical Hierarchy Process (FAHP) is used for dynamic...
The damping controller is popularly used in human-robot interaction to adapt the desired pose of the tool center via applied wrench (force and torque) by the human. However, the experimental identification of the suitable damping gain for the dynamical relationship between applied wrench and end-effector's velocity is an open problem. In addition, although the requirements of safe human-robot standards...
Generating emotional body expressions for socially assistive robots has been gaining increased attention to enhance the engagement and empathy in human-robot interaction. In this paper, we propose a new model of emotional body expression for the robot inspired by social and emotional development of infant from their parents. An infant is often influenced by social referencing, meaning that they perceive...
Each person has their private physical and/or psychological area where they do not want to share with others during social interactions. This area gives them comfort about interactions and its size usually depends on various factors such as culture, personal traits, and acquaintanceship. This issue may also arise in case of human-robot interaction, especially when the robot is required to generate...
The paper seeks the sociological relevance which is created by an intelligent agent from sociological aspect. As known, the services from an intelligent agent maintains a certain social function as a part of human-robot interaction (HRI). The study thus uses a mobile agent to elaborate the fact. The mobile robotics, though developing rapidly, lacks still a clarification of the social function which...
In this paper, we present a general framework for learning social affordance grammar as a spatiotemporal AND-OR graph (ST-AOG) from RGB-D videos of human interactions, and transfer the grammar to humanoids to enable a real-time motion inference for human-robot interaction (HRI). Based on Gibbs sampling, our weakly supervised grammar learning can automatically construct a hierarchical representation...
In this paper we describe the development of a user interface for a liquid handling robot. We describe the user interface design process that we carried out, beginning with requirements analysis and rapid prototyping, followed by heuristic evaluation. We then demonstrate the resulting cloud interface where the robot is controlled remotely in a teleoperation mode to program common protocols in chemistry,...
Online model-free reinforcement learning (RL) methods with continuous actions are playing a prominent role when dealing with real-world applications such as Robotics. However, when confronted to non-stationary environments, these methods crucially rely on an exploration-exploitation trade-off which is rarely dynamically and automatically adjusted to changes in the environment. Here we propose an active...
Facial expression recognition (FER) has been applied for human-robot interaction (HRI). An assistant robot having a close interaction with human being should be able to recognize human facial expression. FER is a non-trivial problem because each individual has his own way to reveal his emotion and the facial expressions of two different persons may not be totally identical. Facial expression can be...
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