The 23rd IEEE International Symposium on Robot and Human Interactive Communication最新文献_第8页

A fundamental study of light and flexible wearable robot assisting to recover movement functions 辅助恢复运动功能的轻型柔性可穿戴机器人的基础研究

The 23rd IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2014-10-20 DOI: 10.1109/ROMAN.2014.6926235

Kunihiro Ogata, Tomoyuki Yamamoto

引用次数: 2

Design and control of a standing-operator mobile robot with avoidance function of collision and falling off 具有避碰、避落功能的站立式移动机器人的设计与控制

The 23rd IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2014-10-20 DOI: 10.1109/ROMAN.2014.6926240

N. Uchiyama, S. Sano, Suguru Kirita

{"title":"Design and control of a standing-operator mobile robot with avoidance function of collision and falling off","authors":"N. Uchiyama, S. Sano, Suguru Kirita","doi":"10.1109/ROMAN.2014.6926240","DOIUrl":"https://doi.org/10.1109/ROMAN.2014.6926240","url":null,"abstract":"This paper deals with design and control of a standing-operator mobile robot. Because the human operator stands on the robot, the required area for the operator is relatively smaller than that for the wheel chair (seated-operator) robot, and freed-up area can be used for passengers and/or transporting objects. In addition, the position sensor used for monitoring the center of gravity of the operator can be used as a man-machine interface controller that enables hands-free operation of the robot as opposed to a joy-stick controller. However, with the proposed standing-operator system, the acceleration of the robot needs to be controlled to prevent the standing operator from toppling over. In addition, collision-avoidance control is indispensable because it is difficult to precisely control motion only by sensing the position of the operator's center of gravity. This paper describes the designs for collision avoidance and the acceleration controller for a standing-operator mobile robot. A general-purpose differential-wheeled structure with casters is employed in this study. Experimental results by several human operations in a corridor with corners demonstrate the effectiveness of the proposed acceleration and collision avoidance controller.","PeriodicalId":235810,"journal":{"name":"The 23rd IEEE International Symposium on Robot and Human Interactive Communication","volume":"146 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123329715","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

Kinect based calling gesture recognition for taking order service of elderly care robot 基于Kinect的呼叫手势识别的养老机器人点菜服务

The 23rd IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2014-10-20 DOI: 10.1109/ROMAN.2014.6926306

Xinshuang Zhao, A. Naguib, Sukhan Lee

{"title":"Kinect based calling gesture recognition for taking order service of elderly care robot","authors":"Xinshuang Zhao, A. Naguib, Sukhan Lee","doi":"10.1109/ROMAN.2014.6926306","DOIUrl":"https://doi.org/10.1109/ROMAN.2014.6926306","url":null,"abstract":"This paper proposes a Kinect-based calling gesture recognition scenario for taking order service of an elderly care robot. The proposed scenarios are designed mainly for helping non expert users like elderly to call service robot for their service request. In order to facilitate elderly service, natural calling gestures are designed to interact with the robot. Our challenge here is how to make the natural calling gesture recognition work in a cluttered and randomly moving objects. In this approach, there are two modes of our calling gesture recognition: Skeleton based gesture recognition and Octree based gesture recognition. Individual people is segmented out from 3D point cloud acquired by Microsoft Kinect, skeleton is generated for each segment, face detection is applied to identify whether the segment is human or not, specific natural calling gestures are designed based on skeleton joints. For the case that user is sitting on a chair or sofa, correct skeleton cannot be generated, Octree based gesture recognition procedure is used to recognize the gesture, in which human segments with head and hand are identified by face detection as well as specific geometrical constrains and skin color evidence. The proposed method has been implemented and tested on “HomeMate”, a service robot developed for elderly care. The performance and results are given.","PeriodicalId":235810,"journal":{"name":"The 23rd IEEE International Symposium on Robot and Human Interactive Communication","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129542124","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: 32

Auto-evaluation of motion imitation in a child-robot imitation game for upper arm rehabilitation 儿童机器人上臂康复模仿游戏中运动模仿的自动评价

The 23rd IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2014-10-20 DOI: 10.1109/ROMAN.2014.6926253

A. Güneysu, Recep Doga Siyli, A. A. Salah

{"title":"Auto-evaluation of motion imitation in a child-robot imitation game for upper arm rehabilitation","authors":"A. Güneysu, Recep Doga Siyli, A. A. Salah","doi":"10.1109/ROMAN.2014.6926253","DOIUrl":"https://doi.org/10.1109/ROMAN.2014.6926253","url":null,"abstract":"The purpose of this study is fusing play-like child robot interaction with physiotherapy in order to achieve upper arm rehabilitation by motivating the child. The proposed system is not intended to substitute for the physiotherapist, but to assist them in their therapeutic tasks by encouraging the child's participation in the activity. Recognizing the imitation performance of the child and supporting him/her with feedback for drawing the child's attention and motivating the child to imitate the robot is crucial. This study concentrates on automatically evaluating the upper body actions of the child during an imitation based physical therapy. For quantifying the performance of the child, two measures were considered: Range of Motion (RoM) and Dynamic Time Warping (DTW) distance. In our initial experiments, eight healthy children were asked to stand in front of a Kinect sensor and to mimic the actions of the humanoid robot Nao, which consist of shoulder abduction, shoulder vertical flexion&extension and elbow flexion. The proposed evaluation measure is verified as a reliable measurement according to Intraclass Correlation Coefficient (ICC) through comparison with evaluations of five physiotherapists as ground truth. The degree of consistency among our ratings and the physiotherapist ratings is between %76 and %96 for different motions.","PeriodicalId":235810,"journal":{"name":"The 23rd IEEE International Symposium on Robot and Human Interactive Communication","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129069153","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: 17

A survey of human location estimation in a home environment 家庭环境中人的位置估计方法综述

The 23rd IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2014-10-20 DOI: 10.1109/ROMAN.2014.6926243

S. Mehdi, K. Berns

引用次数: 7

A novel robotic assistive device for stroke-rehabilitation 一种新型的机器人中风康复辅助装置

The 23rd IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2014-10-20 DOI: 10.1109/ROMAN.2014.6926370

Alistair C. McConnell, X. Kong, P. A. Vargas

引用次数: 6

Developing new frontiers in the Rubber Hand Illusion: Design of an open source robotic hand to better understand prosthetics 开发橡胶手错觉的新领域:一个开源机械手的设计，以更好地理解假肢

The 23rd IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2014-10-20 DOI: 10.1109/ROMAN.2014.6926368

A. Beir, E. Caspar, Florence Yernaux, Pedro Magalhaes Da Saldanha da Gama, B. Vanderborght, A. Cleermans

{"title":"Developing new frontiers in the Rubber Hand Illusion: Design of an open source robotic hand to better understand prosthetics","authors":"A. Beir, E. Caspar, Florence Yernaux, Pedro Magalhaes Da Saldanha da Gama, B. Vanderborght, A. Cleermans","doi":"10.1109/ROMAN.2014.6926368","DOIUrl":"https://doi.org/10.1109/ROMAN.2014.6926368","url":null,"abstract":"In psychology the Rubber Hand Illusion (RHI) is an experiment where participants get the feeling that a fake hand is becoming their own. Recently, new testing methods using an action based paradigm have induced stronger RHI. However, these experiments are facing limitations because they are difficult to implement and lack of rigorous experimental conditions. This paper proposes a low-cost open source robotic hand which is easy to manufacture and removes these limitations. This device reproduces fingers movement of the participants in real time. A glove containing sensors is worn by the participant and records fingers flexion. Then a microcontroller drives hobby servo-motors on the robotic hand to reproduce the corresponding fingers position. A connection between the robotic device and a computer can be established, enabling the experimenters to tune precisely the desired parameters using Matlab. Since this is the first time a robotic hand is developed for the RHI, a validation study has been conducted. This study confirms previous results found in the literature. This study also illustrates the fact that the robotic hand can be used to conduct innovative experiments in the RHI field. Understanding such RHI is important because it can provide guidelines for prosthetic design.","PeriodicalId":235810,"journal":{"name":"The 23rd IEEE International Symposium on Robot and Human Interactive Communication","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124524273","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: 16

Kinect depth image based door detection for autonomous indoor navigation 基于Kinect深度图像的自主室内导航门检测

The 23rd IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2014-10-20 DOI: 10.1109/ROMAN.2014.6926245

Yimin Zhou, Guolai Jiang, Guoqing Xu, Xinyu Wu, L. Krundel

引用次数: 13

Gestural art: A Steady State Visual Evoked Potential (SSVEP) based Brain Computer Interface to express intentions through a robotic hand 手势艺术:基于稳态视觉诱发电位(SSVEP)的脑机接口，通过机械手表达意图

The 23rd IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2014-10-20 DOI: 10.1109/ROMAN.2014.6926255

R. Meattini, U. Scarcia, C. Melchiorri, Tony Belpaeme

{"title":"Gestural art: A Steady State Visual Evoked Potential (SSVEP) based Brain Computer Interface to express intentions through a robotic hand","authors":"R. Meattini, U. Scarcia, C. Melchiorri, Tony Belpaeme","doi":"10.1109/ROMAN.2014.6926255","DOIUrl":"https://doi.org/10.1109/ROMAN.2014.6926255","url":null,"abstract":"We present an automated solution for the acquisition, processing and classification of electroencephalography (EEG) signals in order to remotely control a remotely located robotic hand executing communicative gestures. The Brain-Computer Interface (BCI) was implemented using the Steady State Visual Evoked Potential (SSVEP) approach, a low-latency and low-noise method for reading multiple non-time-locked states from EEG signals. As EEG sensor, the low-cost commercial Emotiv EPOC headset was used to acquire signals from the parietal and occipital lobes. The data processing chain is implemented in OpenViBE, a dedicated software platform for designing, testing and applying Brain-Computer Interfaces. Recorded commands were communicated to an external server through a Virtual Reality Peripheral Network (VRPN) interface. During the training phase, the user controlled a local simulation of a dexterous robot hand, allowing for a safe environment in which to train. After training, the user's commands were used to remotely control a real dexterous robot hand located in Bologna (Italy) from Plymouth (UK). We report on the robustness, accuracy and latency of the setup.","PeriodicalId":235810,"journal":{"name":"The 23rd IEEE International Symposium on Robot and Human Interactive Communication","volume":"164 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120913186","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: 6

Developing a baseline for upper-body motor skill assessment using a robotic kinematic model 使用机器人运动学模型开发上肢运动技能评估的基线

The 23rd IEEE International Symposium on Robot and Human Interactive Communication Pub Date : 2014-10-20 DOI: 10.1109/ROMAN.2014.6926369

Sergio García-Vergara, M. Serrano, Yu-Ping Chen, A. Howard

{"title":"Developing a baseline for upper-body motor skill assessment using a robotic kinematic model","authors":"Sergio García-Vergara, M. Serrano, Yu-Ping Chen, A. Howard","doi":"10.1109/ROMAN.2014.6926369","DOIUrl":"https://doi.org/10.1109/ROMAN.2014.6926369","url":null,"abstract":"In the rehabilitation field, determining the effectiveness of an intervention protocol begins by comparing the individual's movement characteristics against a baseline. In most settings, this baseline is determined through clinical studies involving a range of patients belonging to the same demographic group. Unfortunately, this leads to a process that is difficult to repeat for all patient demographics, or all movement characteristics, given the demands on clinicians' and patients' time for performing such clinical baseline measurement studies. To address this issue, we discuss a method that allows clinicians to objectively assess an individual's movements and compare the resulting outcome kinematic metrics to a kinematic baseline. Instead of collecting human patient data, we propose a robotic kinematic model that generates a baseline for different kinematic parameters in real-time as a function of the state of a given task. We evaluate our methodology on elbow and shoulder range of motion (ROM) angles obtained from eleven typically developing children. We compare the user's ROM angles to those generated by the proposed model, and discuss the potential of the model to be used in various intervention protocols.","PeriodicalId":235810,"journal":{"name":"The 23rd IEEE International Symposium on Robot and Human Interactive Communication","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126020176","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