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Investigation of brain activity during interaction with seal robot by fNIRS 用近红外光谱研究与密封机器人互动时的大脑活动
2011 RO-MAN Pub Date : 2011-08-30 DOI: 10.1109/ROMAN.2011.6005290
Yukitaka Kawaguchi, K. Wada, M. Okamoto, T. Tsujii, T. Shibata, K. Sakatani
{"title":"Investigation of brain activity during interaction with seal robot by fNIRS","authors":"Yukitaka Kawaguchi, K. Wada, M. Okamoto, T. Tsujii, T. Shibata, K. Sakatani","doi":"10.1109/ROMAN.2011.6005290","DOIUrl":"https://doi.org/10.1109/ROMAN.2011.6005290","url":null,"abstract":"Brain activity during interaction with seal robot “Paro” was measured by functional near-infrared spectroscopy (fNIRS). In the pilot study, there were two experimental tasks: Interaction with Paro that was switched ON (Paro ON) and Paro that was switched OFF (Paro OFF) with one minute rest before and after the tasks. The results showed significant activations around the pre-motor area and the supplementary motor area (SMA) during Paro OFF task compared with rest condition before the task. These areas are supposed to be a function of initiating action. This indicates that when participants touched and interacted with Paro, they might intentionally interact. On the other hand, there were significant increased brain activations on both sides of the Sylvian fissure during Paro ON task compared with rest condition before the task. The results suggest that when participants interacted with Paro, they might recognize the emotional gesture expression of Paro. They might communicate with Paro naturally without intention of interaction.","PeriodicalId":408015,"journal":{"name":"2011 RO-MAN","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128769368","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
Incorporating a model of human panic behavior for robotic-based emergency evacuation 结合基于机器人的紧急疏散的人类恐慌行为模型
2011 RO-MAN Pub Date : 2011-08-30 DOI: 10.1109/ROMAN.2011.6005265
P. Robinette, A. Howard
{"title":"Incorporating a model of human panic behavior for robotic-based emergency evacuation","authors":"P. Robinette, A. Howard","doi":"10.1109/ROMAN.2011.6005265","DOIUrl":"https://doi.org/10.1109/ROMAN.2011.6005265","url":null,"abstract":"Evacuating a building in an emergency situation can be very confusing and dangerous. Exit signs are static and thus have no ability to convey information about congestion or danger between the sign and the actual exit door. Emergency personnel may arrive too late to assist in an evacuation. Robots, however, can be stored inside of buildings and can be used to guide evacuees to the best available exit. To enable this process, evacuation robots must have an understanding of how people react in emergency situations. By incorporating a model of human panic behavior, these robots can effectively guide crowds of people to zones of safety. In this paper, we discuss an initial design of these robots and their behaviors. Preliminary simulation results show that a significantly larger proportion of people are evacuated with robot assistance than without.","PeriodicalId":408015,"journal":{"name":"2011 RO-MAN","volume":"24 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131455877","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: 24
Dialog strategies for handling miscommunication in task-related HRI 处理与任务相关的人力资源调查中错误沟通的对话策略
2011 RO-MAN Pub Date : 2011-08-30 DOI: 10.1109/ROMAN.2011.6005197
Barbara Gonsior, Christian Landsiedel, Antonia Glaser, D. Wollherr, M. Buss
{"title":"Dialog strategies for handling miscommunication in task-related HRI","authors":"Barbara Gonsior, Christian Landsiedel, Antonia Glaser, D. Wollherr, M. Buss","doi":"10.1109/ROMAN.2011.6005197","DOIUrl":"https://doi.org/10.1109/ROMAN.2011.6005197","url":null,"abstract":"As communication quality in public spaces often is impaired by noisy environment, it is difficult for a robot to retrieve missing task-information from humans. In this paper, different dialog strategies are modeled and evaluated with respect to user experience and error handling capabilities in HRI in order to cope with erroneous speech recognition. Since correct recognition of spoken language is a bottleneck for real-world dialog systems, special emphasis is placed on the issue of adapting dialog strategies to the conditions under which the dialog is held to thereby provide for adaptability of the dialog strategy to variable speech recognition performance. Experimental evaluations are conducted in a fully automated indoor setting, and in a Wizard-of-Oz outdoor setting. Results indicate that a critical point exists, up to which the use of requests for handling miscommunication improves the user experience of a dialog strategy.","PeriodicalId":408015,"journal":{"name":"2011 RO-MAN","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117110446","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: 9
Designing POMDP models of socially situated tasks 设计社会情境任务的POMDP模型
2011 RO-MAN Pub Date : 2011-08-30 DOI: 10.1109/ROMAN.2011.6005264
F. Broz, I. Nourbakhsh, R. Simmons
{"title":"Designing POMDP models of socially situated tasks","authors":"F. Broz, I. Nourbakhsh, R. Simmons","doi":"10.1109/ROMAN.2011.6005264","DOIUrl":"https://doi.org/10.1109/ROMAN.2011.6005264","url":null,"abstract":"In this paper, a modelling approach is described that represents human-robot social interactions as partially observable Markov decision processes (POMDPs). In these POMDPs, the intention of the human is represented as an unobservable part of the state space, and the robot's own intentions are expressed through the rewards. The state transition structure for the models is created using action rules that capture the effects of the robot's actions, relate the human's behavior to their intentions, and describe the changing state of the environment. State transitions are modified using data from humans interacting with other humans. The policies obtained by solving these models are used to control a robot in a socially situated task with a human partner. These interactions are compared to those of human pairs performing the same task, demonstrating that this approach produces policies that exhibit natural and socially appropriate behavior.","PeriodicalId":408015,"journal":{"name":"2011 RO-MAN","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115104346","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: 26
How to walk a robot: A dog-leash human-robot interface 如何遛机器人:狗带人机界面
2011 RO-MAN Pub Date : 2011-08-30 DOI: 10.1109/ROMAN.2011.6005225
J. Young, Yoichi Kamiyama, Juliane Reichenbach, T. Igarashi, E. Sharlin
{"title":"How to walk a robot: A dog-leash human-robot interface","authors":"J. Young, Yoichi Kamiyama, Juliane Reichenbach, T. Igarashi, E. Sharlin","doi":"10.1109/ROMAN.2011.6005225","DOIUrl":"https://doi.org/10.1109/ROMAN.2011.6005225","url":null,"abstract":"Human-robot interaction (HRI) tasks in everyday environments will require people to direct or lead a robot as they walk in close proximity to it. Tasks that exemplify this interaction include a robotic porter, carrying heavy suitcases, or a robot carrying groceries. As many users may not be robotics experts, we argue that such interaction schemes must be accessible, easy to use and understand. In this paper, we present a dog-leash interface that enables a person to lead a robot simply by holding the leash, following a dog-leash interaction metaphor. We introduce variants on dog-leash robotic interaction, present our original interface implementation, and detail our formal qualitative evaluation, exploring how users perceive and accept the dog leash robotic interaction.","PeriodicalId":408015,"journal":{"name":"2011 RO-MAN","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115099827","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
Comparison of human-machine interfaces designed for novices teleoperating multi-DOF hydraulic manipulators 新手远程操作多自由度液压机械手的人机界面比较
2011 RO-MAN Pub Date : 2011-08-30 DOI: 10.1109/ROMAN.2011.6005250
Mark D. Elton, W. Book
{"title":"Comparison of human-machine interfaces designed for novices teleoperating multi-DOF hydraulic manipulators","authors":"Mark D. Elton, W. Book","doi":"10.1109/ROMAN.2011.6005250","DOIUrl":"https://doi.org/10.1109/ROMAN.2011.6005250","url":null,"abstract":"Hydraulic manipulators are commonly used for tasks that require large forces over a large workspace. Current hydraulic manipulators are often operated using individual joint control. Since many of these manipulators are long kinematic chains, such as excavators and concrete pump trucks, it can take years of training and experience to become a true expert operator, resulting in a large number of novice operators. Haptics and coordinated control have been shown to improve various operator performance measures such as task completion time and the amount of applied force. This paper outlines a novel coordinated control scheme and shows that coordinated position control is feasible for slow and/or large-workspace manipulators. It discusses the results of these two coordinated control modes with and without haptics on operator task completion time. The performance of a single expert operator is provided as a comparison. This paper also includes a fuel efficiency measurement absent in previous work. The results are benchmarked against current joystick control.","PeriodicalId":408015,"journal":{"name":"2011 RO-MAN","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123337639","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
Multimodal controls for soldier/swarm interaction 士兵/群体互动的多模式控制
2011 RO-MAN Pub Date : 2011-08-30 DOI: 10.1109/ROMAN.2011.6005227
E. Haas, Krishna S. Pillalamarri, Chris Stachowiak, M. Fields
{"title":"Multimodal controls for soldier/swarm interaction","authors":"E. Haas, Krishna S. Pillalamarri, Chris Stachowiak, M. Fields","doi":"10.1109/ROMAN.2011.6005227","DOIUrl":"https://doi.org/10.1109/ROMAN.2011.6005227","url":null,"abstract":"In theory, autonomous robotic swarms can be used for critical Army tasks, including accompanying vehicle convoys to provide security and enhance situational awareness. However, the Soldier providing swarm supervisory control must be able to correct swarm actions, especially in disrupted or degraded conditions. Dynamic map displays are visual interfaces that can be useful for swarm supervisory control tasks, because they can show the spatial positions of objects of interest (e.g., people, robots, swarm members, and vehicles), at different locations (e.g., on roads and intersections), while allowing user commands as well as world changes, often in real time. In this study, multimodal speech and touch controls were designed for a U.S. Army Research Laboratory dynamic map display to allow users to provide supervisory control of a simulated robotic swarm. This experiment explored the use of sequential multimodal touch and speech commands for placement of swarm-related map objects at different map locations. The criterion variable was temporal binding, the time between the onset of each command in the sequence, relative to the system's ability to fuse the two sequential commands into a unitary response. User preference of modality for the first command was also measured. These concepts were tested in a laboratory study using 12 male Marine volunteers with a mean age of 19 years. Results indicated significant differences in temporal binding for different map objects and map locations. Additionally, nine out of 12 Marines used speech commands approximately 75% or more of the time, while the remaining three Marines used touch commands first approximately 75% or more of the time. Temporal binding was significantly shorter for touch-first than for speech-first commands. Suggestions for future research and future applications to robotic command and control systems are described.","PeriodicalId":408015,"journal":{"name":"2011 RO-MAN","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132448341","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: 10
Manipulating anthropomorphic inferences about NAO: The role of situational and dispositional aspects of effectance motivation 操纵NAO的拟人推理:效果动机的情境和性格方面的作用
2011 RO-MAN Pub Date : 2011-08-30 DOI: 10.1109/ROMAN.2011.6005233
F. Eyssel, Dieta Kuchenbrandt
{"title":"Manipulating anthropomorphic inferences about NAO: The role of situational and dispositional aspects of effectance motivation","authors":"F. Eyssel, Dieta Kuchenbrandt","doi":"10.1109/ROMAN.2011.6005233","DOIUrl":"https://doi.org/10.1109/ROMAN.2011.6005233","url":null,"abstract":"In an experiment we empirically tested one key determinant of Epley's Three-Factor Theory of Anthropomorphism: Specifically, we investigated the interplay of both dispositional and situational facets of effectance motivation in predicting anthropomorphic inferences about the robot NAO. That is, we manipulated the predictability of the robot's behavior and whether participants anticipated an interaction with NAO. Innovatively, we also examined interindividual differences in participants' desire for control, a dispositional aspect of effectance motivation. Taken together, we go beyond previous work by (1) increasing ecological validity of the experimental setting; by (2) extending the range of measures to assess anthropomorphism, and by (3) examining the role of contextual and dispositional components of effectance motivation for anthropomorphism. Because this is the first work to study the interplay between these factors, our work contributes to a better theoretical and empirical understanding of psychological anthropomorphism.","PeriodicalId":408015,"journal":{"name":"2011 RO-MAN","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114424704","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: 21
The difference of user's impression between an intelligent medicine case and a home interface robot 智能医疗箱与家庭界面机器人的用户印象差异
2011 RO-MAN Pub Date : 2011-08-30 DOI: 10.1109/ROMAN.2011.6005278
Takuo Suzuki, Yuta Jose, Y. Nakauchi
{"title":"The difference of user's impression between an intelligent medicine case and a home interface robot","authors":"Takuo Suzuki, Yuta Jose, Y. Nakauchi","doi":"10.1109/ROMAN.2011.6005278","DOIUrl":"https://doi.org/10.1109/ROMAN.2011.6005278","url":null,"abstract":"In advanced countries like Japan, the number of elderly recipients who take medicine every day has been increasing due to the aging of the population. Since they have many risks of inappropriate medication (e.g. overdose), we have developed an intelligent medicine case named iMec in order to assist caregivers in monitoring. In addition, we will help a recipient directly by using a display and a speaker embedded in the medicine case. Meanwhile, an interface robot which communicated with complex house appliances has been developed to provide a variety of services. Therefore, we consider how the recipient should be supported by the medicine case and the interface robot in the house. In this paper, we set up an experimental environment and research the difference of recipient's impression between the medicine case and the interface robot. As a result, we confirm that the interface robot is more effective in self-medication support than the medicine case because a recipient is apt to listen to the friendly robot.","PeriodicalId":408015,"journal":{"name":"2011 RO-MAN","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122138264","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
Recognizing situations that demand trust 认识到需要信任的情况
2011 RO-MAN Pub Date : 2011-08-30 DOI: 10.1109/ROMAN.2011.6005228
Alan R. Wagner, R. Arkin
{"title":"Recognizing situations that demand trust","authors":"Alan R. Wagner, R. Arkin","doi":"10.1109/ROMAN.2011.6005228","DOIUrl":"https://doi.org/10.1109/ROMAN.2011.6005228","url":null,"abstract":"This article presents an investigation into the theoretical and computational aspects of trust as applied to robots. It begins with an in-depth review of the trust literature in search of a definition for trust suitable for implementation on a robot. Next we apply the definition to our interdependence framework for social action selection and develop an algorithm for determining if an interaction demands trust on the part of the robot. Finally, we apply our algorithm to several canonical social situations and review the resulting indications of whether or not the situation demands trust.","PeriodicalId":408015,"journal":{"name":"2011 RO-MAN","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124884065","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: 31
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