发布求助
文献互助 智能选刊 最新文献

2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)最新文献

筛选
英文 中文
Android Robot-Patient for Teaching and Training of Delirium Assessment Instruments: A Pilot Study 用于谵妄评估仪器教学与训练的Android机器人患者:一项试点研究
2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2023-06-05 DOI: 10.1109/ARSO56563.2023.10187448
Jan Hendrik Röhl, Andrea D. Klausen, Nicole Feldmann, R. Diekmann, S. Hellmers, U. Günther, Andreas Hein
{"title":"Android Robot-Patient for Teaching and Training of Delirium Assessment Instruments: A Pilot Study","authors":"Jan Hendrik Röhl, Andrea D. Klausen, Nicole Feldmann, R. Diekmann, S. Hellmers, U. Günther, Andreas Hein","doi":"10.1109/ARSO56563.2023.10187448","DOIUrl":"https://doi.org/10.1109/ARSO56563.2023.10187448","url":null,"abstract":"Educating and training medical staff in the Confusion Assessment Method for the Intensive Care Unit (CAM-ICU) is time-consuming and complex. This paper presents a pilot study of a prospective CAM-ICU training scenario for the CAM-ICU using an android robot-patient (ARP). The scenario is a two-stage concept including a short interactive presentation and a hands-on exercise. During the hands-on part, we compared an ARP with a simulated patient (SP), both imitating specific behaviors of patients with delirium. A questionnaire was used to evaluate the use of the ARP as a teaching, training, and assessment method. During the study, none of the participants had any difficulty performing the CAM-ICU or using the ARP, and all participants could imagine training with the ARP again. This leads to the conclusion that the ARP is a suitable, flexible and risk-free training method for the CAM-ICU.","PeriodicalId":382832,"journal":{"name":"2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125692421","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
Data Recording for Responsible Robotics 负责任机器人的数据记录
2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2023-06-05 DOI: 10.1109/ARSO56563.2023.10187414
Jon Skerlj, Maximilian Braun, Sophia Witz, Svenja Breuer, Marieke Bak, Sebastian Scholz, Abdeldjallil Naceri, Ruth Müller, S. Haddadin, Iris Eisenberger
{"title":"Data Recording for Responsible Robotics","authors":"Jon Skerlj, Maximilian Braun, Sophia Witz, Svenja Breuer, Marieke Bak, Sebastian Scholz, Abdeldjallil Naceri, Ruth Müller, S. Haddadin, Iris Eisenberger","doi":"10.1109/ARSO56563.2023.10187414","DOIUrl":"https://doi.org/10.1109/ARSO56563.2023.10187414","url":null,"abstract":"The last decades have seen continuous attempts to advance the application of robotics and artificial intelligence (AI) research in several areas such as healthcare environments. However, using (semi)autonomous robots in healthcare also poses risks that need to be addressed throughout the systems' lifecycle. In this work, we present our version of a data recorder, as the output of an interdisciplinary research collaboration that addresses relevant social, ethical, legal, and technical aspects of advanced robotics in healthcare. We use social science insights from interviews and ethnographic fieldwork with relevant stakeholders as well as ethical and legal analyses to derive and implement four technical requirements for a data recorder to enhance accountability and transparency of a service humanoid robot, GARMI, assisting in healthcare. We present a tool to log and visualize data from human-robot interactions as a means of including non-expert users and other relevant stakeholders in accountability relationships, which also helps us to enhance the transparency of advanced robotics in general and to fulfill the examined requirements of the Medical Device Regulation (MDR) and the General Data Protection Regulation (GDPR).","PeriodicalId":382832,"journal":{"name":"2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126757198","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
Influence of robot motion and human factors on users' perceived safety in HRI 机器人运动和人为因素对HRI用户安全感知的影响
2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2023-06-05 DOI: 10.1109/ARSO56563.2023.10187525
Simone Nertinger, R. J. Kirschner, Saeed Abdolshah, Abdeldjallil Naceri, S. Haddadin
{"title":"Influence of robot motion and human factors on users' perceived safety in HRI","authors":"Simone Nertinger, R. J. Kirschner, Saeed Abdolshah, Abdeldjallil Naceri, S. Haddadin","doi":"10.1109/ARSO56563.2023.10187525","DOIUrl":"https://doi.org/10.1109/ARSO56563.2023.10187525","url":null,"abstract":"Besides the human physical safety also their perceived safety need to be taken into account in human-robot interaction (HRI). For this reason, the Expectable Motion Unit (EMU) concept was developed, a velocity scaling scheme relating the robot speed and instantaneous human-robot distance to the occurrence of human startle or surprise reactions. Since the perception of safety is highly subjective, the warranty of the EMU concept is expected to be dependent on human factors. Thus, human factors may be incorporated in the concept. Building up on the previous robot-focused analyses of the EMU, in this paper, we analyze the influence of human factors on perceived safety in robot approaching scenarios including 29 participants without the application of the EMU concept as well as in the same scenario with 15 participants under the application of the EMU concept. We report that the influence of sociodemographic factors is not significant which highlights the generalizability of the EMU concept. On the other hand, the experiments show that a strong habituation effect exists. This implies that the robot motion should be highly defensive during the first interaction with lay users. In general, the EMU concept proved its suitability by successfully reducing the influence of robot motion parameters on human perceived safety.","PeriodicalId":382832,"journal":{"name":"2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114253743","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
Bi-Directional Human-Robot Handover Using a Novel Supernumerary Robotic System 一种新型辅助机器人系统的人机双向切换
2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2023-06-05 DOI: 10.1109/ARSO56563.2023.10187506
Yuwei Du, Xin Zhang, M. Leonori, Pietro Balatti, Jing Jin, Qiang Wang, A. Ajoudani
{"title":"Bi-Directional Human-Robot Handover Using a Novel Supernumerary Robotic System","authors":"Yuwei Du, Xin Zhang, M. Leonori, Pietro Balatti, Jing Jin, Qiang Wang, A. Ajoudani","doi":"10.1109/ARSO56563.2023.10187506","DOIUrl":"https://doi.org/10.1109/ARSO56563.2023.10187506","url":null,"abstract":"Cooperative human-robot systems are the key technology to improve efficiency in agile production. In this work, a novel on-shoulder supernumerary robotic limb (SRL) is developed for human-robot collaboration. The SRL system is mainly composed of a 6-degree-of-freedom (DoF) lightweight robotic arm and a wearable and adjustable base, which allows different users to regulate the arm installation position to fit their physical dimensions and expand their workspace. As the SRL is close to the human head, nullspace-based collision avoidance is designed to achieve safe motion planning. Meanwhile, a Kalman filter is designed to actively predict human hand position and yield anticipatory motion control of our SRL in handover tasks. Furthermore, we conduct a bi-directional handover case study to verify the capability of the SRL system and the effectiveness of the proposed collaborative handover. The result shows that our control method can guarantee intuitive and natural handover behavior.","PeriodicalId":382832,"journal":{"name":"2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"53 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116477546","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: 2
A PCA-based Method to Map Aesthetic Movements from Dancer to Robotic Arm 一种基于pca的舞者到机械臂的美学动作映射方法
2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2023-06-05 DOI: 10.1109/ARSO56563.2023.10187492
Giuseppe Saviano, A. Villani, D. Prattichizzo
{"title":"A PCA-based Method to Map Aesthetic Movements from Dancer to Robotic Arm","authors":"Giuseppe Saviano, A. Villani, D. Prattichizzo","doi":"10.1109/ARSO56563.2023.10187492","DOIUrl":"https://doi.org/10.1109/ARSO56563.2023.10187492","url":null,"abstract":"The research field of motion is shared by both robotics and dance for both their respective pragmatic and aesthetic purposes. Dance is an art form which uses the graceful motion of the performer's body to create an expression, while robotics focuses on the motion control of articulated bodies. We propose an approach to combine the graceful motion of a dancer and the robotic motion of an articulated arm to create a unique choreography. Our mapping approach is based on the results of a principal component analysis of dancer motion, projected onto the degrees of freedom of the robotic arm. The challenge here is to find a kinematic relationship between two distinct kinematic structures, a dancer's body and a robotic arm, to create an enhanced aesthetic experience. Various joint assignment policies will be examined and compared to identify the characteristics that optimize the audience's opinion of the robot's movement aesthetics and the appeal of the human-robot choreography.","PeriodicalId":382832,"journal":{"name":"2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121565752","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
A Human-Centered Design Process for Developing Non-Humanoid Social Robotic (NH-SR) Work and Exercise Environment 以人为中心的非人形社会机器人工作与运动环境设计
2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2023-06-05 DOI: 10.1109/ARSO56563.2023.10187543
Tarek H. Mokhtar, J. Manganelli, A. Hamidalddin
{"title":"A Human-Centered Design Process for Developing Non-Humanoid Social Robotic (NH-SR) Work and Exercise Environment","authors":"Tarek H. Mokhtar, J. Manganelli, A. Hamidalddin","doi":"10.1109/ARSO56563.2023.10187543","DOIUrl":"https://doi.org/10.1109/ARSO56563.2023.10187543","url":null,"abstract":"The iWEE, is a non-humanoid social robotic system that recognizes office workers' limited movement, e.g., sitting for more than an hour, combines this information with their meditation and/or exercise preferences, and in response prompts them to engage in periodic whole-body movement activity breaks. The iWEE' robotic systems sense users' movements, assess the users' states, and reconfigure to encourage exercise by actuating its different spatial sensory cues, i.e., form, sound and color. The iWEE also employs architectural conventions, providing different configurations to encourage movement of different muscle groups. iWEE's users interact with the robotic system using for example touch, proximity and/or infrared sensors, or by using push buttons located at the iWEE's spatial interface. The cyber physical system are iteratively designed, prototyped, and empirically evaluated at different scales.","PeriodicalId":382832,"journal":{"name":"2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123184069","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
The Impact of a Haptic Digital Twin in the Nuclear Industry and Potential Applications 触觉数字孪生体在核工业中的影响及其潜在应用
2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2023-06-05 DOI: 10.1109/ARSO56563.2023.10187460
Harun Tugal, Fumiaki Abe, I. Caliskanelli, Alice Cryer, Chris Hope, J. R. Kelly, Salvador Pacheco Gutierrez, Alexandros Plianos, Masaki Sakamoto, Tomoki Sakaue, Wataru Sato, Shu Shirai, Yolande Smith, Yoshimasa Sugawara, Kaiqiang Zhang, R. Skilton
{"title":"The Impact of a Haptic Digital Twin in the Nuclear Industry and Potential Applications","authors":"Harun Tugal, Fumiaki Abe, I. Caliskanelli, Alice Cryer, Chris Hope, J. R. Kelly, Salvador Pacheco Gutierrez, Alexandros Plianos, Masaki Sakamoto, Tomoki Sakaue, Wataru Sato, Shu Shirai, Yolande Smith, Yoshimasa Sugawara, Kaiqiang Zhang, R. Skilton","doi":"10.1109/ARSO56563.2023.10187460","DOIUrl":"https://doi.org/10.1109/ARSO56563.2023.10187460","url":null,"abstract":"Robotic systems that enable operators to remotely manipulate delicate materials with high dexterity, and sufficient force feedback will pave the path for improvements of the safe maintenance and decommissioning processes within the nuclear industry. Training the operators, however, for challenging conditions (e.g., low visibility, restricted motion in confined spaces, and limited interaction force) in a time- and cost-effective manner is difficult. This paper introduces the economic and operational implications of using haptic digital twin technology to prepare operators for remote manipulation of hazardous materials. This technology simulates various tasks, robots, and environments in hazardous settings, allowing operators to perform their work more efficiently and cost-effectively. The proposed use cases within the nuclear industry for such simulation platform varies from the post-operational clean-out process to operations in the contaminated environment after a disaster.","PeriodicalId":382832,"journal":{"name":"2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121289278","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
A fuel-efficient approach for platooning systems with ethical decision-making implications 具有伦理决策意义的车队系统的燃油效率方法
2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2023-06-05 DOI: 10.1109/ARSO56563.2023.10187497
T. Gonçalves, Nelson de Moura, F. Nashashibi
{"title":"A fuel-efficient approach for platooning systems with ethical decision-making implications","authors":"T. Gonçalves, Nelson de Moura, F. Nashashibi","doi":"10.1109/ARSO56563.2023.10187497","DOIUrl":"https://doi.org/10.1109/ARSO56563.2023.10187497","url":null,"abstract":"Platooning system is a relevant solution for sustainable freight transportation due to its capability to substantially improve fuel efficiency, safety, and traffic flow. Most of the recent studies focus on the fuel-efficiency aspect while ignoring ethical aspects associated with the short intervehicle distance requirement. Unlike the literature, we address ethical implications that arise during platooning in addition to fuel-efficient improvement. We propose a decision-making algorithm based on a Markov Decision Process (MDP) that is able to switch between classical platooning controllers to improve fuel efficiency while accounting for a harm factor. Numerical results demonstrate the relevance of a joint design of ethical and fuel-efficiency aspects for suitable decisionmaking in platooning systems.","PeriodicalId":382832,"journal":{"name":"2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132368771","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
Towards data-driven predictive control of active upper-body exoskeletons for load carrying 基于数据驱动的上肢主动外骨骼负重预测控制研究
2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2023-06-05 DOI: 10.1109/ARSO56563.2023.10187548
Alexandre Oliveira Souza, Jordane G. Grenier, F. Charpillet, P. Maurice, S. Ivaldi
{"title":"Towards data-driven predictive control of active upper-body exoskeletons for load carrying","authors":"Alexandre Oliveira Souza, Jordane G. Grenier, F. Charpillet, P. Maurice, S. Ivaldi","doi":"10.1109/ARSO56563.2023.10187548","DOIUrl":"https://doi.org/10.1109/ARSO56563.2023.10187548","url":null,"abstract":"Upper-limb active exoskeletons are a promising technology to reduce musculoskeletal disorders in the context of load-carrying activities. To assist the user on time, it is crucial to predict the assistance torque required for the future intended movement. In this paper, we propose to predict such a torque with predictive models trained on simulated data. We generate exoskeleton sensor data for training learning-based prediction models from human motion capture data. We design a Quadratic Programming control problem for the exoskeleton to track the human body across its movements. From the data generated using this simulation method, we train two torque command prediction methods for transparent control and load carrying. We show that exoskeleton torque command can be predicted with a relative error below 5% at a horizon of 100ms.","PeriodicalId":382832,"journal":{"name":"2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"130 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126273608","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
A comparison of human skeleton extractors for real-time human-robot interaction 用于实时人机交互的人体骨骼提取器的比较
2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2023-06-05 DOI: 10.1109/ARSO56563.2023.10187411
Wanchen Li, R. Passama, Vincent Bonnet, A. Cherubini
{"title":"A comparison of human skeleton extractors for real-time human-robot interaction","authors":"Wanchen Li, R. Passama, Vincent Bonnet, A. Cherubini","doi":"10.1109/ARSO56563.2023.10187411","DOIUrl":"https://doi.org/10.1109/ARSO56563.2023.10187411","url":null,"abstract":"Modern industrial manufacturing procedures gradually integrate physical Human-Robot interaction (pHRI) scenarios. This requires robots to understand human intentions for effective and safe cooperation. Vision is the most commonly used sensor modality for robots to perceive human behavior. In this paper, we compare various vision-based human skeleton extraction frameworks, to provide guidance for the design of human-robot interaction applications. We run various skeleton extractors on a video of a person working with the help of a dual-arm collaborative robot, in a scenario simulating a typical human-robot workspace. By comparing the outcomes of the various skeleton extractors, we justify our choices according to pHRI constraints.","PeriodicalId":382832,"journal":{"name":"2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"212 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114354893","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
下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信