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IEEE/SICE International Symposium on System Integration

作者： R. Agarwal P. Sharma S. K. Saha T. Matsumaru Dept. of Mechanical Engineering IIT Delhi Hauz Khas New Delhi-110016 India Bio-Robotics and Human-Mechatronics Laboratory Graduate School of IPS Waseda University Kitakyushu Fukuoka Japan

ISBN: (纸本)9781509033300

This paper showcases the development of a mobile robot integrated with Projectable Interactive Surface to facilitate its interaction with human users. The system was designed to interact with users of any physical attributes such as height, arm span etc. without re-calibrating it. The system was designed in such a way that there would be no need for the human to come in physical contact with the robot to give it instructions. This system uses a projector to render a virtual display on the ground allowing us to project large displays. Microsoft Kinect integrated in the systems performs a dual functionality of tracking the user movements along with mapping the surrounding environment. The gestures of the tracked user are interpreted and an audio visual signal is projected by the robot in response.

关键词： Collision avoidance Robot sensing systems Navigation Robot kinematics Acoustics

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Interaction Using the Projector Screen and Spot-light from a Laser Pointer: Handling Some Fundamentals Requirements

Interaction Using the Projector Screen and Spot-light from a...

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SICE Annual Conference

作者： Romy Budhi Widodo Weijen Chen Takafumi Matsumaru Bio-Robotics & Human-Mechatronics Laboratory Graduate School of IPS Waseda University

ISBN: (纸本)9781467322591

This paper presents one of the interaction models between humans and machines using a camera, the projector, and the spot-light from a laser pointer device. A camera was attached on the top of the projector, and the projector directed a direction screen display on the wall, while the user pointed a laser pointer to the desired location on the direction screen display. It is confirmed that this system can handle some distortion conditions of the direction screen display, such as an oblique rectangle, horizontal trapezoid distortion, and vertical trapezoid distortion as well as some surface illuminance - 127, 425, 630, and 1100 lux;and the system is designed to be used for static and moving objects. The coordinates that were obtained from the distorted screen can be used to give commands to a specific machine, robot, and application.

关键词： Projector screen Spot-light Distorted screen Moving objects

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Friendly Amusing Mobile function for human-robot interaction

Friendly Amusing Mobile function for human-robot interaction

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19th IEEE International Conference on Robot and human Interactive Communication, RO-MAN 2010

作者： Matsumaru, Takafumi Bio-Robotics and Human-Mechatronics Laboratory Shizuoka University 3-5-1 Johoku Naka Hamamatsu 432-8561 Japan

ISBN: (纸本)9781424479917

This paper introduces a tag-playing robot as a "Friendly Amusing Mobile" (FAM) function to expand the mobile robot Step-On Interface (SOI) use and to promote the human-robot interaction through a motion, targeting maintenance, training, and recovery of human physical and cognitive functions in the elderly, physically challenged, injured, etc. Displaying a previously prepared bitmap (BMP) image becomes the display update rate faster and makes it easy to design button placement and other screen parameters using a painting software package. The scope matrix generated from the BMP image simplifies the step detection and recognition, and the motion trajectory design editor facilitates the robot behavior design. © 2010 IEEE.

关键词： human robot interaction

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The step-on interface (SOI) on a mobile platform: Rehabilitation of the physically challenged

The step-on interface (SOI) on a mobile platform: Rehabilita...

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ACM/IEEE International Conference on human-Robot Interaction (HRI)

作者： Takafumi Matsumaru Yuichi Ito Wataru Saitou Bio-robotics and Human-mechatronics laboratory Shizuoka University Hamamatsu Japan

The rehabilitation of the physically challenged is one of the trial applications of the step-on interface (SOI) on a mobile platform as the friendly amusing mobile (FAM) function. This vide shows the result of the pre... 详细信息

ISBN: (纸本)9781424448920;9781424448937

关键词： Foot Rehabilitation robotics robotics and automation Mobile robots Displays Legged locomotion Automatic control Control systems Indium tin oxide Laboratories

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The step-on interface (SOI) on a mobile platform: Basic functions

The step-on interface (SOI) on a mobile platform: Basic func...

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ACM/IEEE International Conference on human-Robot Interaction (HRI)

作者： Takafumi Matsumaru Yuichi Ito Wataru Saitou Bio-robotics and Human-mechatronics laboratory Shizuoka University Hamamatsu Japan

ISBN: (纸本)9781424448920;9781424448937

This video shows the basic functions of HFAMRO-2 equipped with the step-on interface (SOI). In the SOI the projected screen is used as a bilateral interface. It not only presents information from the equipment to the user but also delivers the instructions from the user to the equipment. HFAMRO is intended to represent the concept based on which robots interact with users. It assumes, for example, the ability to play `tag' - in this case, playing tag with light, similar to `shadow' tag. The HFAMRO-2 mobile robot, developed to study the SOI's application with mobility, has two sets of the SOI consisting of a projector and a range scanner on a mobile platform. The projector displays a direction screen on a travel surface and the two-dimensional range scanner detects and measures the user's stepping to specify the selected button.

关键词： Mobile robots Legged locomotion Robot kinematics Foot robotics and automation Two dimensional displays Robot control Automatic control Control systems Indium tin oxide

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Step-on interface on mobile robot to operate by stepping on projected button

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Open Automation and Control Systems Journal 2009年第1期2卷 85-95页

作者： Matsumaru, Takafumi Akai, Kosuke Bio-Robotics and Human-Mechatronics Laboratory Shizuoka University Johoku Naka Hamamatsu 432-8561 Japan

This paper proposes the step-on interface (SOI) to operate a mobile robot in which a projector projects and displays a direction screen on a floor and a user specifies a button showing the selected movement by stepping or pointing. The HFAMRO-1 mobile robot has been developed to demonstrate the SOI's potential (HFAMRO: "human-friendly amusing" mobile robot). The SOI of HFAMRO-1 consists of a projector and a range scanner on an omni-directional mobile platform. From operational comparison with other input interfaces, it is confirmed that we can direct the robot movement using our own foot. We had some students who does not specialize robotic systems try to operate HFAMRO-1 with their shoes, and all trial students could specify the button to operate the robot satisfactorily and everyone mastered the SOI immediately. © Matsumaru and Akai.

关键词： Mobile robots

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Discrimination and Implementation of Emotions on Zoomorphic Robot Movements

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SICE Journal of Control, Measurement, and System Integration 2009年第6期2卷 365-372页

作者： Takafumi Matsumaru Bio-Robotics and Human-Mechatronics Laboratory Shizuoka University

This paper discusses discrimination and implementation of emotions on a zoomorphic robot aiming at designing emotional robot movements and improving robot friendliness. We consider four emotions; joy, anger, sadness, and fear. Two opposite viewpoints, performer and observer, are considered to acquire emotional movement data for analysis. The performer subjects produce emotional movements and movements that are easy to be recognized as expressions of the intended emotion are selected among the measured movements by the observer subjects. Discriminating the emotion embedded in a movement is tried using feature values based on the Laban movement analysis (LMA) and the principal component analysis (PCA). By the discrimination using PCA, the resultant rates of the correct discrimination are about 70% for all four emotions. The features of emotional movements are presumed from the coefficients of the discrimination function obtained in the emotion discrimination using PCA. Emotions are implemented by converting a setup for basic movements by employing the design principle based on the movement features. The result of the verification experiment suggests that four emotional movements are divided into two groups; the joy and anger group and the sadness and fear group. The emotional movements of joy or anger are dynamic, large-scale and frequent being relatively easy to interpret the intended emotion, while the emotional movements of sadness or fear are static, small-scale and little making difficult to understand the feature of movements.

关键词： emotional movement discrimination implementation friendliness zoomorphic robot

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Handover movement informing receiver of weight load as informative motion study for human-friendly robot

Handover movement informing receiver of weight load as infor...

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IEEE International Workshop on Robot and human Communication (ROMAN)

作者： Takafumi Matsumaru Bio-Robotics & Human-Mechatronics Laboratory Shizuoka University Hamamatsu Japan

This paper presents the result of the study on handover movement informing a receiver of the weight load as an example of the informative motion of a human-coexistence type robot (human-friendly robot). Movement of human body when performing handover task to a person was measured and analyzed first, and the features of variance of movement depending on the weight load were clarified. Then, the questionnaire survey was carried out to verify whether people could read out the difference in weight load from the variance of movement, in which the movement was reproduced using a simulator. It may be said that a receiver can judge whether a package is heavy or not, although it is difficult to estimate the exact weight load. Accordingly, if the variance of the noted points is included in the design of the handover movement of a humanoid robot, people as a receiver will be able to estimate the weight load to make easy to receive a package safely and certainly.

关键词： Packaging Mobile robots Robot sensing systems human robot interaction humanoid robots Orbital robotics Performance evaluation Analysis of variance Performance analysis Concrete

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