Alle Publikationen
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2018
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(2018): Tomorrow’s human–machine design tools: From levels of automation to interdependencies. In: Journal of Cognitive Engineering and Decision Making 12 (1), S. 77-82. DOI: 10.1177/1555343417736462
DOI: https://doi.org/10.1177/1555343417736462 Abstract: The growth of sophistication in machine capabilities must go hand in hand with growth of sophistication in human–machine interaction capabilities. To continue advancement as we build today’s intelligent machines, designers need formative tools for creating sociotechnical systems. In this article, we will briefly assess the appropriateness of ’levels of automation’ as a tool for designing human–machine systems. Additionally, we present coactive design and interdependence analysis as a viable alternative tool moving forward into more advanced and sophisticated human–machine systems. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
Keywords: Angemessen(heit) (von Technik), Automation, cognitive engineering, Collaboration, design methods, Human Factors Engineering, Human Machine Systems, Human Machine Systems Design, Human robot interaction, human–automation interaction, human–computer interaction, Human–robot interaction, level of automation, Systems Design, team design, technology 2017
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International Conference on Control, Automation and Systems; Chengŏ-Robot-Sisŭt'em-Hakhoe; Iccas (2017): ICCAS 2017. 2017 17th International Conference on Control, Automation and Systems : proceedings : October 18-21, 2017, Ramada Plaza, Jeju, Korea. 2017 17th International Conference on Control, Automation and Systems (ICCAS). Jeju, 10/18/2017 - 10/21/2017. Piscataway, NJ: IEEE
Abstract: Human Robotics Research Center (HRRC) has established in 2013 as an R&D center. Our objective is implement robots at the site of rehabilitation and nursing care. HRRC is working on the research and development of wearable auxiliary tool for behavior assistance of elderly who requires nursing care in cooperation with Kashiihara Hospital since 2015. Purpose of this research is to develop wearable device that can be reduce body burden of caregivers who carry out standing assistance / transfer assistance frequently at bathing care. We started this activity in 2015, and we have made 2 mockups so far. In 2016, a verification experiment of standing assistance / transfer assistance was conducted using prototype-1 that made based on the advice from Kashiihara hospital. As a result of the verification experiment, we assume 1st prototype will reduce the burden on caregivers. In the future, we will study “Powered Exoskeleton for Bathing Care” which applied ultra-mini hydraulic technology for body assistance and “Wearable Auxiliary Tool” that does not have body assistance”.
2016
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Agah, Arvin; Cabibihan, John-John; Howard, Ayanna M.; Salichs, Miguel A.; He, Hongsheng (Hg.) (2016): Social robotics. 8th international conference, ICSR 2016, Kansas City, MO, USA, November 1-3, 2016 : proceedings. Icsr; International Conference on Social Robotics. Cham: Springer International Publishing (Lecture notes in computer science Lecture notes in artificial intelligence)
Abstract: Learning robot navigation behaviors by demonstration using a RRT* planner -- Adaptive Robot Assisted Therapy using Interactive Reinforcement Learning -- Personalization Framework for Adaptive Robotic Feeding Assistance -- A Framework for Modelling Local Human-Robot Interactions based on unsupervised learning -- Using Games to Learn Games: Game Theory Representations as a source for Guided Social Learning -- User Evaluation of an Interactive Learning Framework for Single-Arm and Dual-Arm Robots -- Formalizing Normative Robot Behavior -- Decision-Theoretic Human-Robot Interaction: Designing Reasonable and Rational Robot Behavior -- Physiologically Inspired Blinking Behavior for a Humanoid Robot -- Infinite personality space for non-fungible robots -- Investigating the Differences in Effects of the Persuasive Message's Timing During Science Learning to Overcome the Cognitive Dissonance -- Investigating the Effects of the Persuasive Source's Social Agency Level and the Student's Profile to Overcome the Cognitive Dissonance -- Responsive Social Agents; Feedback-sensitive behavior generation for social interactions -- A Human-Robot Competition: Towards Evaluating Robots' Reasoning Abilities for HRI -- The Effects of Cognitive Biases in Long-term Human-Robot Interactions: Case Studies using three Cognitive Biases on MARC the Humanoid Robot -- Ethical Decision Making in Robots: Autonomy, Trust and Responsibility -- How Facial Expressions and Small Talk May Influence Trust in a Robot -- A Study on Trust in a Robotic Suitcase -- How Much Should a Robot Trust the User Feedback? Analyzing the Impact of Verbal Answers in Active Learning -- Recommender Interfaces: the More Human-like, the More Humans Like -- Designing a Social Robot to Assist in Medication Sorting -- Other-oriented Robot Deception: How can a robot's deceptive feedback help humans in HRI? -- Ethically-Guided Emotional Responses for Social Robots : Should I be Angry? -- Interactive Navigation of Mobile Robots Based on Human‘s Emotion -- Social Human-Robot Interaction: a new Cognitive and Affective Interaction-Oriented Architecture -- MuDERI: Multimodal Database for Emotion Recognition among Intellectually Disabled Individuals -- “How is his/her mood”: A Question that a Companion Robot may be able to answer -- Emotion in Robots Using Convolutional Neural Networks -- Rhythmic Timing in Playful Human-Robot Social Motor Coordination -- The effects of an impolite vs. a polite robot playing rock-paper-scissors -- Qualitative User Reactions to a Hand-Clapping Humanoid Robot -- Nonlinear Controller of Arachnid Mechanism Based on Theo Jansen -- Designing and Assessing Expressive Open-Source Faces for the Baxter Robot -- Spontaneous Human-Robot Emotional Interaction through Facial Expressions -- Functional and Non-Functional Expressive Dimensions: Classification of the Expressiveness of Humanoid Robots -- Facing Emotional Reactions Towards a Robot - An Experimental Study Using FACS -- Head and Face Design for a new Humanoid Service Robot -- The Influence of Robot Appearance and Interactive Ability in HRI: A Cross-Cultural Study -- Congruency matters - How ambiguous gender cues increase a robot's uncanniness -- Collaborative Visual Object Tracking via Hierarchical Structure -- Data Augmentation for Object Recognition of Dynamic Learning Robot -- Rotational Coordinate Transformation for Visual-Inertial Sensor Fusion -- Developing an Interactive Gaze Algorithm for Android Robots -- Recovery Behavior of Artificial Skin Materials after Object Contact -- One-shot evaluation of the control interface of a robotic arm by non-experts -- A Novel Parallel Pinching and Self-adaptive Grasping Robotic Hand -- PCSS Hand: An Underactuated Robotic Hand with a Novel Parallel-Coupled Switchable Self-adaptive Grasp -- JLST Hand: A Novel Powerful Self-Adaptive Underactuated Hand with Joint-Locking and Spring-Tendon Mechanisms -- Path Analysis for the Halo Effect of Touch Sensations of Robots on Their Personality Impressions -- A Human-robot speech interface for an autonomous marine teammate -- Annotation of Utterances for Conversational Nonverbal Behaviors -- Identifying Engagement from Joint Kinematics Data for Robot Therapy Prompt Interventions for Children with Autism Spectrum Disorder -- Social Robots and Teaching Music to Autistic Children: Myth or Reality? -- Development of an ABA Autism Intervention Delivered by a Humanoid Robot -- Interactive Therapy Approach through Collaborative Physical Play between a Socially Assistive Humanoid Robot and Children with Autism Spectrum Disorder -- Examine the Potential of Robots to Teach Autistic Children Emotional Concepts: A Preliminary Study -- Longitudinal Impact of Autonomous Robot-mediated Joint Attention Intervention for Young Children with ASD -- Culture as a Driver for the Design of Social Robots for Autism Spectrum Disorder Interventions in the Middle East -- Robo2Box: A Toolkit to Elicit Children's Design Requirements for Classroom Robots -- Interaction with Artificial Companions: Presentation of an Exploratory Study -- Design and Development of Dew: An Emotional Social-Interactive Robot -- RASA: A Low-Cost Upper-Torso Social Robot Acting as a Sign Language Teaching Assistant -- Robust Children Behavior Tracking for Childcare Assisting Robot By Using Multiple Kinect Sensors -- Learning with or from the Robot: Exploring Robot Roles in Educational Context with Children -- Automatic Adaptation of Online Language Lessons for Robot Tutoring -- Robots in the Classroom: What Teachers Think about Teaching and Learning with Education Robots -- The Influence of a Social Robot’s Persona on how it is Perceived and Accepted by Elderly Users -- From Social Practices to Social Robots - User-Driven Robot Development in Elder Care -- Co-design and robots: a case study of a robot dog for aging people -- An Effort to Develop a Web-Based approach to Assess the Need for Robots Among the Elderly -- Predicting the intention of human activities for real-time human-robot interaction (HRI) -- The ENRICHME Project: Lessons Learnt from a First Interaction with the Elderly -- Design and Implementation of a Task-oriented Robot for Power Substation -- The MuMMER project: Engaging human-robot interaction in real-world public spaces -- Introducing IOmi - A Female Robot Hostess for Guidance in a University Environment -- Colleague or Tool?: Interactivity Increases Positive Perceptions of and Willingness to Interact With a Robotic Co-Worker -- Help Me! Sharing of Instructions Between Remote and Heterogeneous Robots -- Enabling Symbiotic Autonomy in Short-Term Interactions: a User Study -- Conceptual framework for RoboDoc: A New Social Robot for Research Assistantship -- Mechanical design of Christine, the friendly social robot for the service industry -- Influence of user’s personality on task execution when reminded by a robot -- Comparing Ways to Trigger Migration between a Robot and a Virtually Embodied Character -- Does the Safety Demand Characteristic Influence Human-Robot Interaction? -- On Designing Socially Acceptable Reward Shaping -- Motivational Effects of Acknowledging Feedback from a Socially Assistive Robot -- Who am I? What are You? Identity Construction in Encounters between a Teleoperated Robot and People with Acquired Brain Injury -- Contribution towards Evaluating the Practicability of Socially Assistive Robots - by Example of a Mobile Walking Coach Robot -- Philosophy of Social Robotics: Abundance Economics -- Toward a Hybrid Society: The transformation of robots, from objects to social agents -- Iterative Design of a System for Programming Socially Interactive Service Robots -- Engagement Detection During Deictic References In Human Robot Interaction -- Making Turn-taking Decisions for an Active Listening Robot for Memory Training -- Look at me now: Investigating delayed disengagement for ambiguous human-robot stimuli -- Concurrency Simulation in Soccer -- Let the User Decide! User Preferences regarding Functions, Apps, and Interfaces of a Smart Home and a Service Robot -- Welcome to the Future - How Naïve Users Intuitively Address an intelligent Robotics Apartment -- Better than Human: About the Psychological Superpowers of Robots -- A Method for Establishing Correspondences between Hand-Drawn and Sensor-Generated Maps This book constitutes the refereed proceedings of the 8th International Conference on Social Robotics, ICSR 2016, held in Kansas City, MO, USA, in November 2016. The 98 revised full papers presented were carefully reviewed and selected from 107 submissions. The theme of the 2016 conference is Sociorobotics: Design and implementation of social behaviors of robots interacting with each other and humans. In addition to technical sessions, ICSR 2016 included three workshops: The Synthetic Method in Social Robotics (SMSR 2016), Social Robots: A Tool to Advance Interventions for Autism, and Using Social Robots to Improve the Quality of Life in the Elderly
2015
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(2015): Action database for categorizing and inferring human poses from video sequences. In: Robotics and Autonomous Systems 70, S. 116-125. DOI: 10.1016/j.robot.2015.03.001
DOI: https://doi.org/10.1016/j.robot.2015.03.001 Abstract: One of the difficulties in automated recognition of human activities is classifying a video into a specific action class by selecting among a large number of human actions. Technology for understanding complex and varied human actions is necessary for automated surveillance, sports training, computer games, and human–robot interactions. The difficulty of classification comes from a dearth of datasets of human actions that are manually categorized and suitable for use as training data for designing action classifiers. A marker-based motion capture system enables precise measurement of human actions for the purpose of analysis. This type of capture system has several drawbacks, however; in particular, marker-based systems are expensive, intrusive, and complex to use. Despite this, the intensive use of a motion capture system can provide large datasets of human actions, and the datasets can be used to facilitate handling the variety of actions to be classified. Large datasets of human actions measured by motion capture systems are expected to be suitable for use in classifying video segments into the correct human action category, selecting from among a large number of action categories, and for inferring human postures from video. This paper proposes a new concept for a database of human whole body actions and an application to understanding human actions from video. The database contains action configurations, such as positions of body parts, pose descriptors from silhouette images, a stochastic model encoding each sequence of the pose descriptors, and a regression model for predicting the configuration from the pose descriptor. The action configurations are recorded in advance of use by measuring many human actions with a marker-based motion capture system, and silhouette images are created from these configurations. We tested the action database on action classification tasks and human body posture inference tasks. The experimental results show that the action database is suitable for use in both action classification and posture inference. (PsycINFO Database Record (c) 2016 APA, all rights reserved)
2014
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(2014): An affordance sensitive system for robot to human object handover. In: International Journal of Social Robotics 6 (4), S. 653-666. DOI: 10.1007/s12369-014-0241-3
DOI: https://doi.org/10.1007/s12369-014-0241-3 Abstract: One of the most important characteristics that needs to be taken into account while designing advanced human-robot interaction systems is the ability of the robot to behave in a socially acceptable way that is comfortable for humans. This paper presents a novel system for robot to human object handover that maximizes user’s convenience while receiving the object. The object is delivered to the receiving partner such that the most appropriate part is oriented towards him/her. The system has been developed supporting all the necessary phases of the handover task, including object recognition, people detection, robot motion planning, and automatic detection of user’s grasp. Moreover, voice recognition and text-to-speech have been integrated to enable natural object selection in environments that include multiple objects. The experimental setup consists of a six degree of freedom robot arm equipped with a two-finger gripper and an eye-in-hand laser scanner for object recognition, as well as a fixed range sensor for people and grasp detection. A user study has been conducted to assess the usability of the system and verify whether novice users can successfully accomplish a handover task with the system. The user study has confirmed that the proposed solution allows a more comfortable handover than a system disregarding object orientation. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
2013
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(2013): A Simulation of Rule-Breaking Behavior in Public Places. In: Social Science Computer Review 32 (4), S. 439-452. DOI: 10.1177/0894439313511186
DOI: https://doi.org/10.1177/0894439313511186 Abstract: A computer simulation based on both game theory and the cellular automaton model was conducted to investigate the effects of individuals’ interactions and certain conditions on the spread of rule-breaking behavior in public places. Four decision matrices representing obedient, deviant, conforming, and contrary principles were prepared experimentally. The ratio of these principles ranged from 1:2:3:4 to 4:3:2:1 (obedient:deviant:conforming:contrary). There were a total of 24 data sets with each data set composed of 10 decision matrices. In addition to these 24 data sets, the ratio 1:1:1:1 was prepared. This data set was composed of four decision matrices. The results indicated that rule-breaking behavior spreads under the following conditions: (A) when people act according to both individual factors (e.g., their attitudes) and situational factors (e.g., their neighbors’ behavior); (B) when there are more deviant people than obedient people; (C) when the intensity of ru le-break ing behavior is higher than that of rule-obeying behavior. Condition A is an important factor. If conditions B or C are satisfied, the spread of rule-breaking behavior does not occur necessarily. At a certain probability threshold, rule-breaking behavior spreads sharply when people act based on individual factors (e.g., their attitudes); the spread of such behavior cannot be attributed solely to situational factors (e.g., neighbors' behavior). There is only a fine line between rule breaking and obeying near the probability threshold. (PsycINFO Database Record (c) 2016 APA, all rights reserved) zitiert von 6
2011
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(2011): Adaptive aiding of human-robot teaming: Effects of imperfect automation on performance, trust, and workload. In: Journal of Cognitive Engineering and Decision Making 5 (2), S. 209-231. DOI: 10.1177/1555343411410160
DOI: https://doi.org/10.1177/1555343411410160 Abstract: [Correction Notice: An erratum for this article was reported in Vol 5(3) of Journal of Cognitive Engineering and Decision Making (see record [rid]2011-18021-005[/rid]). In the original article, the data in Tables 3 and 4 were switched. The corrected Tables 3 and 4 is given in the erratum.] In many emerging civilian and military operations, human operators are increasingly being tasked to supervise multiple robotic uninhabited vehicles (UVs) with the support of automation. As 100% automation reliability cannot be assured, it is important to understand the effects of automation imperfection on performance. In addition, adaptive aiding may help counter any adverse effects of static (fixed) automation. Using a high-fidelity multi-UV simulation involving both air and ground vehicles, two experiments examined the effects of automation reliability and adaptive automation on human-system performance with different levels of task load. In Experiment 1, participants performed a reconnaissance mission while assisted with an automatic target recognition (ATR) system whose reliability was low, medium, or high. Overall human-robot team performance was higher than with either human or ATR performance alone. In Experiment 2, participants performed a similar reconnaissance mission with no ATR, static automation, or with adaptive automation keyed to task load. Participant trust and self-confidence were higher and workload was lower for adaptive automation compared with the other conditions. The results show that human-robot teams can benefit from imperfect static automation even in high task load conditions and that adaptive automation can provide additional benefits in trust and workload. (PsycINFO Database Record (c) 2016 APA, all rights reserved)
2009
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Institute of Electrical and Electronics Engineers; IEEE International Conference on Automation Science and Engineering; Ieee Case; Annual IEEE Conference on Automation Science and Engineering (2009): IEEE International Conference on Automation Science and Engineering, 2009. CASE 2009 ; 22 - 25 Aug. 2009, Bangalore, India. 2009 IEEE International Conference on Automation Science and Engineering (CASE 2009). Bangalore, India, 8/22/2009 - 8/25/2009. Piscataway, NJ: IEEE
2008
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. Institute of Electrical and Electronics Engineers; IEEE International Conference on Automation Science and Engineering; Ieee Case; Workshop on Algorithmic Automation (2008): IEEE International Conference on Automation Science and Engineering, 2008. CASE 2008 ; Arlington, Virginia, 23 - 26 Aug. 2008. Piscataway, NJ: IEEE Service Center
Abstract: The conference goal is the broad coverage and dissemination of foundational research on automation among researchers, academicians, and industry practitioners. The focus is on scientific methods for automated machines and systems operating in structured environments over long periods, and also on the explicit structuring of environments.
Keywords: Automatic control, Automation, Congresses, Fertigung, Kongress, Miscellaneous, SV, Systems engineering -
(2008) : Measuring human-robot team effectiveness to determine an appropriate autonomy level: 2008 IEEE International Conference on Robotics and Automation: 2008 IEEE International Conference on Robotics and Automation: Pasadena, CA, USA: IEEE, S. 2146-2151
DOI: https://doi.org/10.1109/ROBOT.2008.4543524 Abstract: This paper proposes a methodology to measure the effectiveness of a human-robot team as part of an adjustable autonomy system. The effectiveness measure is aimed at determining an appropriate autonomy level prior to the system’s deployment. Two competing goals need to be traded off: maximising robot performance while minimising the amount of human input. The relative importance of the two goals depend on the mission priorities and constraints which are taken into account. The proposed methodology is applied to a human-robot communication system developed for task- oriented information exchange. The robot uses a decision- theoretic framework to act autonomously and to decide when to request input from human operators. The latter is achieved by computing the value-of-information an operator is able to provide which is compared to the cost of obtaining the information. For our system, the cost parameter represents the autonomy level to be determined. We demonstrate how an appropriate autonomy level can be found experimentally using a navigation task. In our experiment, the robot navigates through a set of simulated worlds with human input being generated by a software component. The results are used to find appropriate autonomy levels for three example missions and a subsequent user study.
Keywords: Angemessen(heit) (von Technik), Anthropometry, Automation, Cognitive robotics, Communication systems, Costs, decision-theoretic framework, Human robot interaction, human-robot communication system, ieee xplore, man-machine systems, Measurement, Navigation, Robot sensing systems, Robotics, Robots, safety, software component, task-oriented information exchange -
(2008) : IslEnquirer: Social user model acquisition through network analysis and interactive learning: 2008 IEEE Spoken Language Technology Workshop: Goa, India: IEEE, S. 117-120
DOI: https://doi.org/10.1109/SLT.2008.4777854 Abstract: We present an approach to introduce social awareness in interactive systems. The IslEnquirer is a system which automatically builds social user models. It initializes the models by social network analysis of available offline data. These models are then verified and extended by interactive learning which is carried out by a robot initiated spoken dialog with the user.
Keywords: Automatic speech recognition, Automation, Cognitive robotics, Context modeling, Data Mining, Humanoid Robots, Humans, ieee xplore, Information retrieval, interactive learning, interactive system, interactive systems, IslEnquirer, Künstliche Intelligenz, learning (artificial intelligence), Robot, Robotics, social awareness, social network analysis, Social network services, social networking (online), social networks, social user model acquisition, spoken dialog, spoken dialog system, user modeling, user modelling 2007
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(2007) : Robopal: Modeling Role Transitions in Human-Robot Interaction: Proceedings 2007 IEEE International Conference on Robotics and Automation: Roma, Italy: IEEE Robotics & Automation Society, S. 2130-2137
DOI: https://doi.org/10.1109/ROBOT.2007.363636 Abstract: We have developed a new communication robot, Robopal, which is an indoor/outdoor robot for use in human-robot interaction research in the context of daily life. Robopal’s intended applications involve leading and/or following a human to a destination. Preliminary experiments have been conducted to study nonverbal cues associated with leading and following behavior, and it has been observed that some behaviors, such as glancing towards the leader or follower, appear to be role-dependent. A system for representing these behaviors with a state transition model is described, based on four kinds of interaction roles: directive, responsive, collaborative, and independent. It is proposed that behavior modeling can be simplified by using this system to represent changes in the roles the robot and human play in an interaction, and by associating appropriate behaviors to each role
Keywords: Angemessen(heit) (von Technik), Automation, Collaboration, communication robot, Context modeling, Human robot interaction, human-robot interaction, ieee xplore, indoor-outdoor robot, intelligent robots, Laboratories, Legged locomotion, man-machine systems, Mobile robots, Power system reliability, Robopal, Robotics, state transition model, Wheels
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