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Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI最新文献

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Determination of human energy generated by skeletal muscle 人体骨骼肌产生能量的测定
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646994
P. Huynh, F. Chavand, N. Koyachi
{"title":"Determination of human energy generated by skeletal muscle","authors":"P. Huynh, F. Chavand, N. Koyachi","doi":"10.1109/ROMAN.1997.646994","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646994","url":null,"abstract":"In order to analyse the mechanical interaction between human arm and manual control device for the design of optimized physical man-machine interfaces, a method of determination of energy expenditure by the muscle system of a human arm acting on the device is presented. This energy is considered as a physical and measurable quantity, and can be used to evaluate the performance of a mechanical man-machine interface. For this, a musculo-mechanical model of the human arm is described for the determination of muscle energy. An example of human joint torques and energy calculation applied to a 2D biomechanical human arm suitable for simulation purpose is analytically given.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129927770","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Motion tracking of the facial components using constraints by the facial muscles 基于面部肌肉约束的面部运动跟踪
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647014
H. Saji, H. Nakatani
{"title":"Motion tracking of the facial components using constraints by the facial muscles","authors":"H. Saji, H. Nakatani","doi":"10.1109/ROMAN.1997.647014","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647014","url":null,"abstract":"We propose a method of tracking the continual motions of facial components, such as the eyes, eyebrows, and mouth in time-varying facial images taken by a video camera. The motions of the components are anatomically determined from the motion of a head and the deformations of facial muscles. We propose to use such anatomical knowledge to track the motions of the facial components precisely and efficiently.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132239853","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Analysis method without task model for interpreting human demonstration 没有任务模型的分析方法解释人类示范
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646983
T. Takahashi
{"title":"Analysis method without task model for interpreting human demonstration","authors":"T. Takahashi","doi":"10.1109/ROMAN.1997.646983","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646983","url":null,"abstract":"Robots have been controlled by various methods. Teaching robot task from human demonstrations has been proposed to reduce robot programming cost. Some prototype systems showed that they are valid when task models are given in advance to analyze human demonstrations. Interpreting demonstration data without task dependent model is required to expand their applicability. This paper discusses the task independent methods of analyzing data. First, demonstration data are matched by minimizing distance between patterns using translational and rotational displacement. Next, data is wavelet analyzed to detect points where motions changed. The result of segmentation is discussed for key-latch task.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133885523","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Haptic display in the virtual collaborative workspace shared by multiple users 多用户共享的虚拟协同工作空间中的触觉显示
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647033
H.R. Choi, B. Choi, S. Ryew
{"title":"Haptic display in the virtual collaborative workspace shared by multiple users","authors":"H.R. Choi, B. Choi, S. Ryew","doi":"10.1109/ROMAN.1997.647033","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647033","url":null,"abstract":"This paper describes a method of haptic display in the virtual world shared by multiple remote users connected via network. Up to now, most investigations of haptic display are devoted to those related to single user or if multiple users exist even share the resources including computers which has no difference from the case of single user. In this paper, we are interested in the display of force feel in collaborative virtual workspace where multiple users participate via communication network. Excluding the possibility of large time delay among the users, the way of configuring individual haptic display systems is presented including the computation of interaction forces, joint driving forces of haptic devices and simulation of the virtual objects. A haptic display system is developed consisting of two haptic display devices operated by two remote users, and experimental results showing the validity of the proposed method are also presented.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132945285","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 22
Artificial immune network-based cooperative control in collective autonomous mobile robots 基于人工免疫网络的集体自主移动机器人协同控制
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646953
Dong-Wook Lee, K. Sim
{"title":"Artificial immune network-based cooperative control in collective autonomous mobile robots","authors":"Dong-Wook Lee, K. Sim","doi":"10.1109/ROMAN.1997.646953","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646953","url":null,"abstract":"In this paper, we propose a method of cooperative control based on immune system in distributed autonomous robotic system (DARS). Immune system is living body's self-protection and self-maintenance system. Thus these features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For the purpose of applying the immune system to DARS, a robot is regarded as a B lymphocyte (B cell), each environmental condition as an antigen and a behavior strategy as an antibody respectively. The executing process of proposed method is as follows: when the environmental condition changes, a robot selects an appropriate behavior strategy, and its behavior strategy is stimulated and suppressed by other robot using communication. Finally, such stimulated strategy is adopted as a swarm behavior strategy. This control scheme is based on clonal selection and idiotopic network hypothesis, and it is used for decision making of an optimal swarm strategy.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"660 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134166130","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 46
Robot path planning in FA by the scrap and build fitness method 采用废弃与构建适应度法进行机器人路径规划
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646989
H. Yamamoto
{"title":"Robot path planning in FA by the scrap and build fitness method","authors":"H. Yamamoto","doi":"10.1109/ROMAN.1997.646989","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646989","url":null,"abstract":"This study deals with automatic robot path generation using a Lisp program, which enables the robot to visits several points in an automated factory premise. In order to do this, the genetic algorithm (GA) search method including the scrap and build fitness method is proposed. As an application example, a robot path that leads to four kinds of machine tools in the factory is adopted. A Lisp program that achieves a cycle path is presented. This research provides a basic study for establishing a practical GA search method.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134188338","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Knowledge projection on robot task environment 机器人任务环境下的知识投影
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646970
Y. Wakita, S. Hirai, T. Hori
{"title":"Knowledge projection on robot task environment","authors":"Y. Wakita, S. Hirai, T. Hori","doi":"10.1109/ROMAN.1997.646970","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646970","url":null,"abstract":"Robotics systems that coexist with humans must function safely and smoothly. The systems must exchange task information with people. We propose a \"projection function\" as the method of information exchange and discuss delivery by hand as an important example. The paper also reports on an experimental system we have designed and constructed.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"641 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133074786","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Automatic feature extraction of facial organs and contour 面部器官和轮廓的自动特征提取
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647017
F. Hara, K. Tanaka, H. Kobayashi, A. Tange
{"title":"Automatic feature extraction of facial organs and contour","authors":"F. Hara, K. Tanaka, H. Kobayashi, A. Tange","doi":"10.1109/ROMAN.1997.647017","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647017","url":null,"abstract":"This paper deals with algorithms for extracting contour lines of eyebrow, eye, nose, mouth, and face contour. First we extract the position of both irises using a correlation technique. Then for the eyebrow, edge-image data are used for determining the position of the eyebrow and the contour of the eyebrow is obtained from binary image data around the eye area. For eyes, the edge between the eyeball and skin is determined easily since the edge is clearly differentiated in the brightness distribution of the image data. For the nose, the edge clearly appears in the image data and then the correlation can determine the nose contour. For the mouth, the position of mouth is determined from image-edge information and brightness distribution and then the correlation can determine the most outer corner points of the mouth. We employ an image energy function to be minimized for obtaining the face contour and a dynamic programming like algorithm is used to obtain the minimum. An average human face contour used as a template can give a good extraction of the face contour.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117157324","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 20
Facial expression recognition using thermal image processing and neural network 基于热图像处理和神经网络的面部表情识别
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647016
Y. Yoshitomi, N. Miyawaki, Shigeyuki Tomita, S. Kimura
{"title":"Facial expression recognition using thermal image processing and neural network","authors":"Y. Yoshitomi, N. Miyawaki, Shigeyuki Tomita, S. Kimura","doi":"10.1109/ROMAN.1997.647016","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647016","url":null,"abstract":"A method using thermal image processing and a neural network is presented for recognition of facial expression. The method is based on 2-dimensional detection of temperature distribution of the face, using infrared rays. The front-view face in the input image is normalized in terms of the size and the location, followed by measurement of the local temperature difference between the averaged neutral and the unknown expression faces. For measuring the local temperature difference, several blocks on the face are selected, based on the studies in the fields of psychology, especially FACS-AU, and computer vision with visible ray, while the blocks including cheekbone region are selected experimentally for improving recognition accuracy. The local temperature difference caused by the rearrangement of face muscle and the inner temperature change is used as input data for a neural network. By using the backpropagation method, neutral, happy, surprised and sad expressions were recognized with 90% accuracy.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122491523","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 64
Time history analysis of GUI for CAI in elementary school 小学CAI GUI的时程分析
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647036
T. Matsumoto, H. Nakayasu, E. Morita
{"title":"Time history analysis of GUI for CAI in elementary school","authors":"T. Matsumoto, H. Nakayasu, E. Morita","doi":"10.1109/ROMAN.1997.647036","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647036","url":null,"abstract":"It is suggested that the quality of graphical user interface (GUI) can be judged by considering the user's stress when the cognitive learning process is considered from the time history data of the mouse movement in GUI, the recording and analyzing method of which has been developed by the authors. For this purpose, an educational experiment was performed in the arithmetic lecture with intelligent CAI where students were taught of how to subtract large members at arithmetic calculation in an elementary school. The time history data are classified into five kinds of basic patterns. From the analysis of the question patterns, it was found that the available period of understanding process of cognition can be detected by the behavior of the mouse movement which corresponds to the configuration of input button. From this study, it is recommended to evaluate the understanding process of cognition by the configuration of GUI.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"172 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122757367","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
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