Human-Robot Interaction (HRI) has recently received considerable attention in the academic community, in labs, in technology companies, and through the media. Because of this attention, it is desirable to present a survey of HRI to serve as a tutorial to people outside the field and to promote discussion of a unified vision of HRI within the field. The goal of this review is to present a unified treatment of HRI-related problems, to identify key themes, and discuss challenge problems that are likely to shape the field in the near future. Although the review follows a survey structure, the goal of presenting a coherent "story" of HRI means that there are necessarily some well-written, intriguing, and influential papers that are not referenced. Instead of trying to survey every paper, we describe the HRI story from multiple perspectives with an eye toward identifying themes that cross applications. The survey attempts to include papers that represent a fair cross section of the universities, government efforts, industry labs, and countries that contribute to HRI, and a cross section of the disciplines that contribute to the field, such as human, factors, robotics, cognitive psychology, and design.

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Human-Robot Interaction: A Survey

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Electrodynamics Of Continuous Media

Industry 4.0, digitization, and opportunities for sustainability

The last decades a variety of portable or wearable navigation systems have been developed to assist visually impaired people during navigation in known or unknown, indoor or outdoor environments. There are three main categories of these systems: electronic travel aids (ETAs), electronic orientation aids (EOAs), and position locator devices (PLDs). This paper presents a comparative survey among portable/wearable obstacle detection/avoidance systems (a subcategory of ETAs) in an effort to inform the research community and users about the capabilities of these systems and about the progress in assistive technology for visually impaired people. The survey is based on various features and performance parameters of the systems that classify them in categories, giving qualitative-quantitative measures. Finally, it offers a ranking, which will serve only as a reference point and not as a critique on these systems.

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Wearable Obstacle Avoidance Electronic Travel Aids for Blind: A Survey

Three-dimensional (3D) printing (also known as additive manufacturing) is an advanced manufacturing process that can produce complex shape geometries automatically from a 3D computer-aided design m...

/pdf/3d-printing-trends-in-building-and-construction-industry-a-1roe8r8geg.pdf

3D printing trends in building and construction industry: a review

NavBelt and GuideCane are computerized devices based on advanced mobile robotics obstacle-avoidance technologies. NavBelt is worn by the user like a belt and is equipped with an array of ultrasonic sensors. It provides acoustic signals via a set of stereo earphones that guides the user around obstacles or "displays" a virtual acoustic panoramic image of the traveler's surroundings. One limitation of the NavBelt is that it is exceedingly difficult for the user to comprehend the guidance signals in time to allow fast walking. A newer device, called GuideCane, effectively overcomes this problem. The GuideCane uses the same mobile robotics technology as the NavBelt but is a wheeled device pushed ahead of the user via an attached cane. When the GuideCane detects an obstacle, it steers around it. The user immediately feels this steering action and can follow the GuideCane's new path easily without any conscious effort. This article describes the two devices, including the mechanical, electronic, and software components, user-machine interface, and some experimental results.

NavBelt and the Guide-Cane [obstacle-avoidance systems for the blind and visually impaired]

A blind traveler walking through an unfamiliar environment and a mobile robot navigating through a cluttered environment have an important feature in common: both have the kinematic ability to perform the motion, but they are dependent on a sensory system to detect and avoid obstacles. The paper describes the use of a mobile robot obstacle avoidance system as a guidance device for blind and visually impaired people. Just as electronic signals are sent to a mobile robot's motion controllers, auditory signals can guide the blind traveler around obstacles, or alternatively, they can provide an "acoustic image" of the surroundings. The concept has been implemented and tested in a new travel aid for the blind, called the Navbelt. The Navbelt introduces two new concepts to electronic travel aids (ETA's) for the blind: it provides information not only about obstacles along the traveled path, but also assists the user in selecting the preferred travel path. In addition, the level of assistance can be automatically adjusted according to changes in the environment and the user's needs and capabilities. Experimental results conducted with the Navbelt simulator and a portable experimental prototype are presented.

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Auditory guidance with the Navbelt-a computerized travel aid for the blind

This paper presents a new concept for a travel aid for the blind. A prototype device, called the NavBelt, was developed to test this concept. The device can be used as a primary or secondary aid, and consists of a portable computer, ultrasonic sensors, and stereophonic headphone. The computer applies navigation and obstacle avoidance technologies that were developed originally for mobile robots. The computer then uses a stereophonic imaging technique to process the signals from the ultrasonic sensors and relays their information to the user via stereophonic headphones. The user can interpret the information as an acoustic "picture" of the surroundings, or, depending on the operational mode, as the recommended travel direction. The acoustic signals are transmitted as discrete beeps or continuous sounds. Experimental results with the NavBelt simulator and a portable prototype show that users can travel safely in an unfamiliar and cluttered environment at speeds of up to 0.8 m/s.

/pdf/the-navbelt-a-computerized-travel-aid-for-the-blind-based-on-4dtgnspn92.pdf

The NavBelt-a computerized travel aid for the blind based on mobile robotics technology

A blind traveler walking through an unfamiliar environment and a mobile robot navigating through a cluttered environment have an important feature in common: both have the kinematic ability to perform the motion, but are depended on a sensory system to detect and avoid obstacles. This paper describes the use of a mobile robot obstacle avoidance system as a guidance device for blind and visually impaired people. Just like electronic signals are sent to a mobile robot's motor controllers, auditory signals can guide the blind traveler around obstacles, or alternatively, they can provide an "acoustic image" of the surroundings. The concept has been implemented and tested in a new traveling aid for the blind, called the Navbelt. Experimental results of subjects traveling with the Navbelt in different surroundings are presented. >

/pdf/mobile-robot-obstacle-avoidance-in-a-computerized-travel-aid-14nlou8ahj.pdf

Mobile robot obstacle avoidance in a computerized travel aid for the blind

One problem oftentimes observed with arrays of multiple ultrasonic sensors (sonars) in obstacle detection and avoidance systems is crosstalk. The paper presents a method in which data generated by crosstalk is actually used to generate more reliable and accurate object detection. This is accomplished by assigning a unique code to the signals emitted by each sonar, so that the source sonar can be identified even if its signal's echo is received by another sonar. Using geometric interpolation between the various sonars increases the accuracy of the measurements, overcoming their limited resolution. Experimental results show the potential of our system for mobile robotics obstacle detection and avoidance, as well as for localization using map-matching techniques.

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Shraga Shoval

Papers

NavBelt and the Guide-Cane [obstacle-avoidance systems for the blind and visually impaired]

Auditory guidance with the Navbelt-a computerized travel aid for the blind

The NavBelt-a computerized travel aid for the blind based on mobile robotics technology

Mobile robot obstacle avoidance in a computerized travel aid for the blind

Using coded signals to benefit from ultrasonic sensor crosstalk in mobile robot obstacle avoidance