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JOURNAL OF robotICS AND MECHATRONICS 2014年第1期26卷 107-108页

作者： Hashimoto, Takuya Kobayashi, Hiroshi Univ Electrocommun Dept Mech Engn & Intelligent Syst 1-5-1 Chofugaoka Chohu Tokyo 1828585 Japan Tokyo Univ Sci Dept Mech Engn Katsushika Ku Tokyo 1258585 Japan

This paper introduces the android robot SAYA and its applications. SAYA was developed to enable human beings and robots to communicate emotions. SAYA shows six basic facial expressions: surprise, fear, disgust, anger, sadness, and happiness. In order to improve the quality of facial expressions and its reality, the android robot which mimics a real human being was also developed. The suggested practical applications for SAYA are a receptionist and a remote teacher. The android robot SAYA is also serving as a simulated patient for medical interview training in psychiatric education.

关键词： android robot facial expressions receptionist system remote teaching system robot as patient

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Development of the Lifelike Head Unit for a Humanoid Cybernetic Avatar 'Yui' and its Operation Interface

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IEEE ACCESS 2024年 12卷 23930-23942页

作者： Nakajima, Mizuki Shinkawa, Kaoruko Nakata, Yoshihiro Tokyo Denki Univ Sch Sci & Technol Future Life Dept Robot & Mechatron Adachi Ku Tokyo 1208551 Japan Univ Electrocommun Grad Sch Informat & Engn Dept Mech & Intelligent Syst Engn Tokyo 1828585 Japan

In avatar-mediated communication, the face-to-face interlocutor must sense the operator's presence and emotions via an avatar. Although androids resembling humans have been developed to convey presence through appearance and movement, few studies have prioritized deepening the communication experience for operators and interlocutors using android robots as avatars. To address this gap, we introduced the "cybernetic avatar 'Yui,' " featuring a human-like head unit with 28 actuation points, capable of expressing gaze, facial emotions, and speech-related mouth movements. Through an eye-tracking unit in a head-mounted display (HMD) and the degrees of freedom in both eyes of Yui, operators can naturally control the avatar's gaze. Additionally, microphones embedded in Yui's ears allowed operators to hear surrounding sounds in three dimensions, enabling them to discern the direction of calls based solely on auditory information. The HMD's face-tracking unit synchronizes the facial movements of the avatar with those of the operator. This immersive interface, coupled with Yui's human-like appearance, enabled real-time emotional transmission and communication, thus enhancing the sense of presence for both parties. Our experiments demonstrate Yui's facial expression capabilities and validate the efficacy of the system through teleoperation trials, suggesting potential advancements in avatar technology.

关键词： android robot teleoperation humanoid robot human-robot interaction communication robot

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Improving user's sense of participation in robot-driven dialogue

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ADVANCED robotICS 2024年第4期38卷 211-225页

作者： Kawamoto, Makoto Shuzo, Masaki Maeda, Eisaku Tokyo Denki Univ Sch Syst Design & Technol Adachi Ku Tokyo Japan

In this study, we aimed to enhance the sense of dialogue participation (SDP), which reflects an individual's conscious engagement in dialogues, and investigated the multimodal dialogue elements that contribute to its improvement. To achieve this, we developed a dialogue system utilizing an android robot specifically for tour spot recommendations at a travel agency. The system was designed with various components aimed at enhancing SDP and was evaluated by 29 participants during the Dialogue robot Competition 2022. After conceptually defining SDP, we employed the author's subjective evaluation to visualize the time-series changes in SDP at approximately 20-second intervals, using video recordings of the dialogues. Initially, we expected an overall decrease in SDP, as the robot had a speaking duration of around two minutes during the middle of the dialogue session when presenting the tour plan. However, the analysis of five participants' data revealed an increase in SDP during segments that involved 'Dealing with content that increases the user's interest' and 'Multimodal response requests.' Consequently, we can conclude that these elements have a discernible impact on enhancing SDP.

关键词： Dialogue system android robot sense of dialogue participation

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Paper: Automatic Generation of Dynamic Arousal Expression Based on Decaying Wave Synthesis for robot Faces

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JOURNAL OF robotICS AND MECHATRONICS 2024年第6期36卷 1481-1494页

作者： Ishihara, Hisashi Hayashi, Rina Lavieille, Francois Okamoto, Kaito Okuyama, Takahiro Osuka, Koichi Osaka Univ Grad Sch Engn Dept Mech Engn 2-1 Yamadaoka Suita Osaka 5650871 Japan Aichi Sangyo Univ Fac Architecture & Design Dept Smart Design 12-5 Okacho Okazaki Aichi 4440005 Japan Univ Strasbourg CNRS ICube 300 Blvd Sebastien Brant F-67400 Illkirch Graffenstaden France

The automatic generation of dynamic facial expressions to transmit the internal states of a robot, such as mood, is crucial for communication robots. In contrast, conventional methods rely on patchwork-like replaying of recorded motions, which makes it difficult to achieve adaptive smooth transitions of the facial expressions of internal states that easily fluctuate according to the internal and external circumstances of the robots. To achieve adaptive facial expressions in robots, designing and providing deep structures that dynamically generate facial movements based on the affective state of the robot is more effective than directly designing superficial facial movements. To address this issue, this paper proposes a method for automatically synthesizing complex but organized command sequences. The proposed system generated temporal control signals for each facial actuator as a linear combination of intermittently reactivating decaying waves. The forms of these waves were automatically tuned to express the internal state, such as the arousal level. We introduce a mathematical formulation of the system using arousal expression in a child-type android as an example, and demonstrate that the system can transmit different arousal levels without deteriorating human-like impressions. The experimental results support our hypothesis that appropriately tuned waveform facial movements can transmit different arousal state levels, and that such movements can be automatically generated as superimposed decaying waves.

关键词： dynamic facial expression android robot affective expression autonomous system arousal level

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Perception of an android robot in Japan and Australia: A Cross-Cultural Comparison 6

Perception of an Android Robot in Japan and Australia: A Cro...

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6th International Conference on Social robotics (ICSR)

作者： Haring, Kerstin Sophie Silvera-Tawil, David Matsumoto, Yoshio Velonaki, Mari Watanabe, Katsumi Univ Tokyo Adv Sci & Technol Res Ctr Tokyo 1138654 Japan Univ New S Wales Creat Robot Lab Sydney NSW 2052 Australia Natl Inst Adv Ind Sci & Technol Tsukuba Ibaraki Japan

ISBN: (纸本)9783319119731;9783319119724

This paper reports the results from two experiments, conducted in Japan and Australia, to examine people's perception and trust towards an android robot. Experimental results show that, in contrast to popular belief, Australian participants perceived the robot more positive than Japanese participants. This is the first study directly comparing human perception of a physically present android robot in two different countries.

关键词： android robot cross-cultural human-robot interaction robot perception trust

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Objective evaluation of mechanical expressiveness in android and human faces

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ADVANCED robotICS 2022年第16期36卷 767-780页

作者： Ishihara, Hisashi Osaka Univ Grad Sch Engn Osaka Japan

Extensive research has been conducted to realize highly expressive android faces. In contrast, not much is being discussed which android faces are mechanically better and how advanced each android is because a fair and meaningful standard index of expressiveness does not exist. Therefore, in this study, we propose a numerical index and three types of visualization methods for facial deformation expressiveness to investigate the mechanical performance of android faces compared to humans. We used a data set of three-dimensional displacement vectors of over 100 facial points on the faces of two androids and three human males to calculate the expressiveness that reflects how diversely each facial point could move. As a result, we found that the expressiveness of the androids was significantly lower than humans, especially in the lower faces. The expressiveness of the androids was approximately only 20% that of humans even in the most expressive axis and two orders of magnitude lower than humans in three-dimensional ***, our method revealed the lackness of mechanical performance in recently developed androids to move facial skin widely. This method enabled us to reasonably discuss future directions to realize next generation androids with expressiveness similar to that in humans.

关键词： android robot facial expression facial deformation evaluation index motion capture

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Development of 'ibuki' an electrically actuated childlike android with mobility and its potential in the future society

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robotICA 2022年第4期40卷 933-950页

作者： Nakata, Yoshihiro Yagi, Satoshi Yu, Shiqi Wang, Yifei Ise, Naoki Nakamura, Yutaka Ishiguro, Hiroshi Osaka Univ Grad Sch Engn Sci Toyonaka Osaka Japan JST ERATO Chofu Tokyo Japan Univ Electrocommun Grad Sch Informat & Engn Chofu Tokyo Japan RIKEN Informat R&D & Strategy Headquarters Kyoto Japan

In this paper, we present an electrically driven childlike android named ibuki equipped with a wheeled mobility unit that enables it to move in a real environment. Since the unit includes a vertical oscillation mechanism, the android can replicate the movements of the human center of mass and can express human-like upper-body movements even when moving by wheels. Moreover, providing 46 degrees of freedom enables it to perform various human-like physical expressions. The development of ibuki, as well as the implementation and testing of several functions, is described. Finally, we discuss the potential advantages and future research direction of a childlike mobile android.

关键词： android robot childlike robot design humanoid robot human-robot interaction mobile robot wheeled mobility

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Comparing an android head with its digital twin regarding the dynamic expression of emotions 11

Comparing an android head with its digital twin regarding th...

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11th International Conference on Affective Computing and Intelligent Interaction (ACIIW)

作者： Kassner, Amelie Becker-Asano, Christian Stuttgart Media Univ Comp Sci & Media Stuttgart Germany

ISBN: (纸本)9798350327458

Emotions, which are an important component of social interaction, can be studied with the help of android robots and their appearance, which is as similar to humans as possible. The production and customization of android robots is expensive and time-consuming, so it may be practical to use a digital replica. In order to investigate whether there are any perceptual differences in terms of emotions based on the difference in appearance, a robot head was digitally replicated. In an experiment, the basic emotions evaluated in a preliminary study were compared in three conditions and then statistically analyzed. It was found that apart from fear, all emotions were recognized on the real robot head. The digital head with "ideal" emotions performed better than the real head apart from the anger representation, which offers optimization potential for the real head. Contrary to expectations, significant differences between the real and the replicated head with the same emotions could only be found in the representation of surprise.

关键词： facial expression emotion empirical study android robot social robotics

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Anxiety Reduction Through Close Communication with robotic Media in Dementia Patients and Healthy Older Adults

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JOURNAL OF robotICS AND MECHATRONICS 2020年第1期32卷 32-42页

作者： Yamazaki, Ryuji Kase, Hiroko Nishio, Shuichi Ishiguro, Hiroshi Osaka Univ Symbiot Intelligent Syst Res Ctr Inst Open & Transdisciplinary Res Initiat J2051-3 Machikaneyama Cho Toyonaka Osaka 5608531 Japan Waseda Univ Fac Human Sci 2-579-17 Mikajima Tokorozawa Saitama 3591192 Japan Osaka Univ Grad Sch Engn Sci Dept Syst Innovat 1-3 Machikaneyama Toyonaka Osaka 5608531 Japan

The purpose of this paper is to provide an overview of the recent research on android robotic media with a focus on its effects on older adults and to present a discussion on the implications of the experimental results. Social isolation of older adults is a leading issue in healthcare. Patients with dementia experience symptoms, such as agitation, which can result in increasing care burden. android robotic media have been shown to provide a feeling of safety and communication support to older adults. In previous case studies, an increase in prosocial behaviors was observed in participants with dementia;however, the media effects needed to be measured by assessment scales. The current results indicate the effects of robotic media on dementia symptoms, especially the decrease in patients' anxiety. As demonstrated in another experiment, anxiety reduction can also be expected in healthy older adults;however, certain conditions may be required for both healthy older adults and those with dementia. Key factors for the media effect, namely, dementia type, user's personality, and personalized dialogue are taken into consideration for the further development of robotic systems. Additionally, we further discuss the significance of long-term data collection, especially from the early life stages because teleoperation or autonomous systems are expected to utilize information that can affect the effect of robotic media.

关键词： communication support android robot behavioral and psychological symptoms of dementia (BPSD) anxiety autonomous dialogue

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Optimal robot for intervention for individuals with autism spectrum disorders

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PSYCHIATRY AND CLINICAL NEUROSCIENCES 2020年第11期74卷 581-586页

作者： Kumazaki, Hirokazu Muramatsu, Taro Yoshikawa, Yuichiro Matsumoto, Yoshio Ishiguro, Hiroshi Kikuchi, Mitsuru Sumiyoshi, Tomiki Mimura, Masaru Natl Ctr Neurol & Psychiat Natl Inst Mental Hlth Dept Prevent Intervent Psychiat Disorders Tokyo Japan Keio Univ Sch Med Dept Neuropsychiat Tokyo Japan Kanazawa Univ Res Ctr Child Mental Dev Kanazawa Ishikawa Japan Osaka Univ Dept Syst Innovat Grad Sch Engn Sci Osaka Japan Natl Inst Adv Ind Sci & Technol Serv Robot Res Grp Intelligent Syst Inst Tsukuba Japan

With recent rapid advances in technology, human-like robots have begun functioning in a variety of ways. As increasing anecdotal evidence suggests, robots may offer many unique opportunities for helping individuals with autism spectrum disorders (ASD). Individuals with ASD often achieve a higher degree of task engagement through the interaction with robots than through interactions with human trainees. The type and form of robots to be used for individuals with ASD have been meticulously considered. Simple robots and animal robots are acceptable because of their simplicity and the ease of interesting and engaging interactions. android robots have the benefit of the potential of generalization into daily life to some extent. Considering the affinity between robots and users is important to draw out the potential capabilities of robotic intervention to the fullest extent. In the robotic condition, factors such as the appearance, biological motion, clothes, hairstyle, and disposition are important. Many factors of a user, such as age, sex, and IQ, may also affect the affinity of individuals with ASD toward a robot. The potential end-users of this technology may be unaware or unconvinced of the potential roles of robots in ASD interventions. If trainers have extensive experience in using robots, they can identify many potential roles of robots based on their experience. To date, only a few studies have been conducted in the field of robotics for providing assistance to individuals with ASD, and future studies are needed to realize an optimal robot for this purpose.

关键词： affinity android robot autism spectrum disorder potential role simple robot

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