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International Journal of Social robotics 2019年第6期15卷 1077-1077页

作者： Ge, Shuzhi Sam Wykowska, Agnieszka Khatib, Oussama Social Robotics Laboratory Smart Systems Institute Department of Electrical and Computer Engineering The National University of Singapore Singapore Singapore Institute for Future (IFF) Qingdao University Qingdao China Centre for Robotics UESTC Chengdu China Social Cognition in Human-Robot Interaction Istituto Italiano di Tecnologia Genoa Italy Artificial Intelligence Laboratory Department of Computer Science Stanford University Stanford USA

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Control strategy for stabilization of the biped trunk-SLIP walking model

Control strategy for stabilization of the biped trunk-SLIP w...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Minh Nhat Vu Jongwoo Lee Yonghwan Oh Department of Human-Computer Interaction and Robotics University of Science and Technology (UST) Korea Center for Robotics Research Korea Institute of Science and Technology (KIST) Seoul Korea

In this paper, we present a new control strategy for the Bipedal Trunk Spring Loaded Inverted Pendulum (BTSLIP) model, consisting of springy legs and rigid trunk. Our walking controller is inspired from the Virtual Pendulum (VP) concept. In this concept, by intersecting the ground reaction forces (GRF) to a virtual pivot point (VPP), the trunk is provided the restoring moment to keep its balance and to behave like a virtual hanging pendulum. The simple hip torque control was presented with the name the VPP method. However, this approach is not reliable in terms of rejecting disturbances. Thus, we propose a new control strategy to achieve the robustness and stabilize the walking gait. Herein, the control is introduced with the combination of two strategies, 1) updating the position of the VPP by using Discrete Linear Quadratic Regulator controller and 2) controlling the stiffness of springy legs by feedback linearization controller to track both reference vertical position and velocity of the Center of Mass (CoM). We present the dynamic simulation of the BTSLIP model under the presence of external disturbances. The performance of the proposed control strategy shows stable, robust walking which is compared with the VPP method.

关键词： Legged locomotion Hip Force Trajectory Springs Torso Load modeling

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How to be Helpful? Supportive Behaviors and Personalization for human-Robot Collaboration

arXiv

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arXiv 2017年

作者： Mangin, Olivier Roncone, Alessandro Scassellati, Brian Social Robotics Lab Computer Science Department Yale University New HavenCT United States Human Interaction and Robotics Group Computer Science Department University of Colorado Boulder BoulderCO United States

The field of human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments, where they operate side by side with humans to achieve shared tasks. However, little progress has been made toward the development of systems that are truly effective in supporting the human, proactive in their collaboration, and that can autonomously take care of part of the task. In this work, we present a collaborative system capable of assisting a human worker despite limited manipulation capabilities, incomplete model of the task, and partial observability of the environment. Our framework leverages information from a high-level, hierarchical model that is shared between the human and robot and that enables transparent synchronization between the peers and mutual understanding of each other’s plan. More precisely, we firstly derive a partially observable Markov model from the high-level task representation;we then use an online Monte-Carlo solver to compute a short-horizon robot-executable plan. The resulting policy is capable of interactive replanning on-the-fly, dynamic error recovery, and identification of hidden user preferences. We demonstrate that the system is capable of robustly providing support to the human in a realistic furniture construction task. Copyright © 2017, The Authors. All rights reserved.

关键词： Markov processes

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Mathematical models of adaptation in human-robot collaboration

arXiv

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arXiv 2017年

作者： Nikolaidis, Stefanos Forlizzi, Jodi Hsu, David Shah, Julie Srinivasa, Siddhartha Robotics Institute Carnegie Mellon University Human-Computer Interaction Institute Carnegie Mellon University Department of Computer Science National University of Singapore Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology

A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over the human internal state, as well as over how this state may change, as humans adapt to the robot. This paper summarizes our own work in this area, which depicts the different ways that probabilistic planning and game-theoretic algorithms can enable such reasoning in robotic systems that collaborate with people. We start with a general formulation of the problem as a two-player game with incomplete information. We then articulate the different assumptions within this general formulation, and we explain how these lead to exciting and diverse robot behaviors in real-time interactions with actual human subjects, in a variety of manufacturing, personal robotics and assistive care settings. Copyright © 2017, The Authors. All rights reserved.

关键词： Game theory

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A novel multi-articular leg mechanism for biped robots inspired by bi-articular muscle

A novel multi-articular leg mechanism for biped robots inspi...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Jongwoo Lee Giuk Lee Seokmin Hong SangWook Lee Jung Hoon Kim Yonghwan Oh Center for Robotics Research Korea Institute of Science and Technology (KIST) Seoul Korea Department of Human-Computer Interaction and Robotics University of Science and Technology (UST) Korea

ISBN: (纸本)9781509032884

This paper proposes a novel multi-articular leg system for biped robot. The structure and actuation scheme of the mechanism are inspired by redundantly-actuated manipulators, of which actuators span over multiple joints like bi-articular muscles. The proposed mechanism for robotic leg contributes to improved capacity in end-effector force exertion, which allows less performance requirements in individual actuators. For the purpose of evaluation, we provide the static torque-force transmission analysis, as well as walking simulation results conducted in the dynamic simulator. The results indicate that the proposed mechanism can benefit from the improved output force capacity.

关键词： Legged locomotion Force Muscles Actuators Dynamics Manipulators

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Designing User Interfaces for Different User Groups: A Three-way Teleconference System for Doctors, Patients and Assistants Using a Remote Medical Robot

Designing User Interfaces for Different User Groups: A Three...

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IEEE International Symposium on Robot and human Interactive Communication

作者： Gerald Stollnberger Manuel Giuliani Nicole Mirnig Manfred Tscheligi Krzysztof Arent Bogdan Kreczmer Filip Grzeszczak Dorota Szczesniak-Stanczyk Radoslaw Zarczuk Andrzej Wysokinski Center for Human-Computer Interaction Department of Computer Sciences University of Salzburg Austria Cybernetics and Robotics Wroclaw University of Technology Poland Department of Cardiology Medical University of Lublin Poland

ISBN: (纸本)9781509039302

We present the design for a three-way medical teleconference system for communication between a doctor, a patient, and an assistant. The system includes individual doctor-patient and doctor-assistant communication channels, as well as the capability of starting and stopping communication channels separately. The initial system design is based on results of a user requirement analysis. To evaluate the design, we conducted two user studies in which doctors, assistants, and patients used our teleconference system in a simulated examination scenario. The study results show that the general usability of our system was rated as good. However, doctors, patients, and assistants reported that they would like to receive better visualisation of the connection status for the communication channels and the system status of the robot in general. Based on these results, we present an updated design for the teleconference system. We also provide best practices which can help designers of medical teleconference systems.

关键词： Medical services Robots Medical diagnostic imaging Graphical user interfaces Communication channels Interviews Communication channels Teleconference physician services graphical user interfaces Robot User Interface Device Component teleconferencing system Interviews Otolaryngologists diagnostic imaging Medicine medical robotics updated design Outcome Studies

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User-adaptive fall detection for patients using wristband

User-adaptive fall detection for patients using wristband

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2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Young-Hoon Nho Jong Gwan Lim Dae-Eon Kim Dong-Soo Kwon Robotics Program and Human-Robot Interaction research center Korea Advanced Institute of Science and Technology Daejeon Republic of Korea Department of Information Engineering Computer Science and University of Trento Italy KAIST Human-Robot Interaction Research Center Daejeon Republic of Korea Department of Mechanical Engineering Human-Robot Interaction research center Daejeon Republic of Korea

Fall detection systems have been proposed to prevent additional injuries following fall accidents. This paper introduces an easily learnable fall detection system based on the data of an individual patient in a hospital room. The improvement of low performance using a single accelerometer at wrists and the inconvenience of sensor attached to a waist in the conventional approach was concentrated on by integrating heart rate signals to the conventional acceleration approach and changing the sensor location from a waist to wrists. As for the optimal heart rate feature selection, we proposed a four-feature vector combination (root mean square of successive differences, standard deviation of successive differences, normal to normal 50, normal to normal 20) with correlation and mutual information analysis in addition to mean absolute deviation selected as an accelerometer feature. To easily acquire and train the patients' fall data, our system was based on unsupervised learning approaches using Gaussian mixture models for optimal classifiers with the optimal cluster number decided by cluster validation index of square error sum. A 10-fold cross validation was applied for a final performance evaluation where each threshold for separating fall state from non-fall state was automatically decided in several comparison groups, which were created on the basis of fusion timing and used sensors. As a result, despite sensors attached to the wrist, the wearable inconvenience of the conventional is overcome using the feature-level fused approach between heart rates and accelerations with the accuracy up to 98.39 %, which is closest to 99.34 % of the case using a single accelerometer located at the waist.

关键词： Accelerometers Heart rate Wrist Training data Hospitals Robot sensing systems Unsupervised learning

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Control of mobile robot for remote medical examination: Design concepts and users' feedback from experimental studies

Control of mobile robot for remote medical examination: Desi...

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Conference on human System interactions, HSI

作者： Krzysztof Arent Janusz Jakubiak Michał Drwięga Mateusz Cholewiński Gerald Stollnberger Manuel Giuliani Manfred Tscheligi Dorota Szczęśniak-Stańczyk Marcin Janowski Wojciech Brzozowski Andrzej Wysokiński Department of Cybernetics and Robotics Wrocław University of Technology Wrocław Poland Center for Human-Computer Interaction University of Salzburg Salzburg Austria Department of Cardiology Medical University of Lublin Lublin Poland

In this article we discuss movement control of a ReMeDi medical mobile robot from the user perspective. The control is essentially limited to the level of operator actions where the operator is a member of a nursing staff. Two working modes are the base of considerations: long distance (LD) and short distance (SD) movement. In this context two robot control techniques are the subject of study: manual with use of a gamepad and “point and click” on a map that is related to autonomous motion with use of an onboard navigation system. In the SD mode the user manually operates the robot, that is close to a laying down patient on a settee. In the LD mode the mobile base moves autonomously in a space shared with people to the desired position. Two user studies were conducted. The results show that from the perspective of LD mode the autonomous navigation is efficient and reduces the burden of the medical personnel. In the SD case, the results show that the users were able to precisely position the robot. Besides, the users perceived the manual control with the gamepad as intuitive. In all cases the medical personnel consider this technology as safe and useful. Safety is also confirmed by patients.

关键词： Mobile robots Navigation Mobile communication Hospitals Medical diagnostic imaging

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Binary hologram generation of real objects by combination of color and depth map

Binary hologram generation of real objects by combination of...

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Euro-American Workshop on Information Optics (WIO)

作者： Thibault Leportier Min-Chul Park Kwang-hoon Lee Department of Human Computer Interaction and Robotics Korea University of Science and Technology Seoul South Korea Center of Opto- Electronic Materials and Devices Korea Institute of Science and Technology Seoul South Korea 3D convergence research center Korea Photonics Technology Institute Gwangju South Korea

ISBN: (纸本)9781509021642

Holograms can be captured optically or computed numerically. Optical methods enable to record information of real objects as they are, but high stability and dark room conditions for experimental set-up is required. It often restricts the capture to only small shape objects. On the other hand, computer Generated Hologram (CGH) approach enables to calculate complex hologram in a flexible way. The scale of the scene can be set as well as the viewing distance or the resolution. The main challenges are to overcome the heavy computational burden and to provide a good sense of reality. CGHs can be calculated from point clouds or polygon models. With this approach, the contributions of every element should be computed for every pixels of the hologram. Holographic data can also be computed by applying propagation formula on 2D images, but the phase should be determined and as well as the depth position at every pixel. We exploited a Kinect camera that has raised a lot of interest recently since it enables to scan a scene for 3D modeling, or to capture both depth map and RGB frame of a scene. Depth map can be used to extract phase information. Combined with the amplitude image, complex field can be determined in a given plane. Then, CGH can be computed in a fast way. For the display part, Direct Binary Search (DBS) algorithm was applied to convert CGH of real scene into binary format so that bandwidth of the SLM can be fully exploited.

关键词： Image reconstruction Optical imaging Satellite broadcasting Optical reflection Three-dimensional displays Holography Optical sensors

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Coping with bad-mouthing in peer-to-peer file sharing networks

Coping with bad-mouthing in peer-to-peer file sharing networ...

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International Conference on Peer-to-Peer Computing

作者： Muhammad Irfan Yousuf Suhyun Kim Human Computer Interaction and Robotics Department Imaging Media Research Center University of Science and Technology Korea Institute of Science and Technology Seoul Korea

In the recent years, the P2P file sharing systems have adopted rating systems in the hope to stop the propagation of bad files. In a rating system, users rate files after downloading and a file with positive feedback is considered a good file. However, a dishonest rater can undermine the rating system by giving positive rating to bad files and negative rating to good files. In this paper, we design two filters based on probabilistic models such that the good files with negative feedback are not completely kept out of the system. The first filter is based on the binomial distribution of the ratings of a file, and the second filter considers the confidence of the downloading peer and the difference of positive and negative ratings of a file to calculate the probability to take a risk to download the file or reject it. Our filters only need the ratings of a file and this makes them suitable for popular torrent sharing websites that rank the files using a binary rating system without any information about raters. In addition, we can implement them entirely on the client side without any modification to the content sharing sites.

关键词： Peer-to-peer computing Probability Probability density function Probabilistic logic Predictive models Data models Radiation detectors

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