Showing papers presented at "Robot and Human Interactive Communication in 1999"

A 7 DOF pneumatic muscle actuator (pMA) powered exoskeleton

Abstract: The development of haptic systems for VR and telepresence has been identified as a key feature in the progression from observation of the environment to interaction. Arm masters and exoskeletons have formed an important user interface for the provision of such facilities, with these devices requiring a subtle combination of complex mechanical, electrical and kinematic structures with user requirements of low mass, portability, comfort, flexibility and safety. The actuation system is often identified as a focus of this design blending process. This work considers the design, construction and testing of a light weight comfortable high power 7 degree of freedom force feedback exoskeleton. This is achieved through the use, modeling and control of pneumatic muscle actuators (pMA) that provide lightweight, low cost, flexible, portable, comfortable and inherently safe input/feedback/control operation. Models of operation in a virtual environment are developed and demonstrated, with experimental results to illustrate the effectiveness of the device in replicating contact forces and creating a sensation of virtual presence.

Experiments with a steady hand robot in constrained compliant motion and path following

Abstract: We consider the problem of cooperative manipulation to improve positioning and path following abilities of humans. Using a specially designed actuated manipulator and "steady hand" manipulation we report on compliant path following strategies and their experimental evaluation. Detecting lines and simple curves by processing images from an endoscope mounted on the robot, we traverse these curves autonomously, under direct user control, and in an augmented mode of user control. Anisotropic gains based on gradient information from the imaging reduce errors in path traversal.

Technological approach for cultural heritage: augmented reality

Abstract: Augmented reality (AR) systems allow the user to see a combination of a mixed scenario, generated by a computer, in which virtual objects are merged with the real environment. The calibration between the two frames, the real world and the virtual environment, and the real time tracking of the user are the most important problems for the AR application implementations. Augmented reality systems are proposed as solutions in many application domains. In this paper we addressed the aspect related to the development of AR applications in the cultural heritage field. Possible future applications are described, including the use of haptic interfaces in AR systems, designed at PERCRO.

A two degrees-of-freedom planar haptic interface with high kinematic isotropy

Abstract: Presents the kinematic analysis and the mechanical design of a new tendon drive for a closed 5-bar linkage. This transmission system allows reaching of higher kinematic isotropy than the direct drive of base joints, over a large workspace with respect to the device bulk. The optimum mechanism geometry has been chosen from both kinematic and dynamic perspective. As a result a new two degrees-of-freedom planar haptic interface with high kinematic performance has been designed.

Social character design for animated agents

Abstract: In order for a computer agent to be accepted and function properly within a community of people, an appropriate social interaction scheme has to be established. We conducted an experiment to investigate the effect of sharing opinions with interface agents on subsequent human behaviors. In the first stage of the experiment, either a positive sharing (Agreeable agent), a negative sharing (Disagreeable agent) or no sharing (Neutral agent) of opinions was reinforced between subjects and agents through simple human-agent interactions. The effect of the sharing of opinions was then tested, in the second stage of the experiment, in terms of the subjects' tendency to favor or disfavour agents' proposals. We found that the Agreeable agent was consistently in favor of the subject's decisions. We therefore examined how the subject indicated sympathetic responses to the Agreeable agent after he/she interacted with all of the agents. The results show that people tend to behave favorably toward agents that previously agreed with their decisions. This suggests that human-computer interaction has the same social dynamics as human-human interaction.

Real-time estimation of human body postures using Kalman filter

Abstract: Presents a hybrid estimation method of human body postures from CCD camera images In the hybrid estimation method, the feature points of the human body (top of the head, tips of the hands, and feet, and elbow joints) are obtained from the results of heuristic contour analyses of human silhouettes or those of a time subtraction image depending on the reliability of the silhouette information A dynamic compensation is then carried out by tracking all feature points using the AR model in order to obtain their optimal position and to overcome self-occlusion problems The AR model's parameters are estimated through online processing by the Kalman filter The proposed method is implemented on a personal computer and the process runs in real-time Experimental results show high estimation accuracy and the feasibility of the proposed method

A semi-direct drive hand exoskeleton using ultrasonic motor

Abstract: We address an exoskeletal type haptic device which helps the human actively feel the sense of touch in palmar and dorsal directions. The device consisting of two finger-like parts taken by thumb and index finger, is designed in modular type to expand easily for five fingers. The proposed device is semi-directly driven by ultrasonic motors which have high power-to-weight ratio, and it provides haptic feedback to each joint of fingers. Methods for measuring the angular displacements and torques of the fingers are proposed and basic experiments are performed to verify the effectiveness of the system.

An embodied interaction robots system based on speech

Abstract: The concept of an embodied interaction robots system based on speech is proposed for assisting human interaction by generating the motions of robots coherently related to speech. For an essential human interaction model which estimates a listener's nodding on the basis of speaker's burst-pause of speech, the validity of a moving-average (MA) model is demonstrated in the robustness of prediction. Then, the prototype of the proposed system which consists of 2 interaction robots with both functions of speaker and listener is developed in which two models are incorporated: one is a listener's reaction model in which nodding, blinking and the motions of head, arms and body are estimated by the MA model of the burst-pause of speech to the nodding; the other is a speaker's bodily reaction model in which the motions of head, arms and body are estimated by its own MA model of the burst-pause of speech to the head motion. Finally, by the sensory evaluation and behavioral analysis in human-robot interaction, the effectiveness of the system's bodily interaction is demonstrated.

Hall effect sensor-based linear transducer

Abstract: This paper presents a new type of transducer based on Hall effect sensors. This transducer is actually used at PERCRO as a small low cost, low displacement friction system for tracking hand position. A description of several displacement sensors as well as the Hall effect is reported. The mathematical model was tested by means of an experimental apparatus. The optimal parameters were determined on the apparatus and used for the realisation of a prototypal sensor.

Design of a new tendon driven haptic interface with six degrees of freedom

Abstract: A six degrees-of-freedom manipulator with force feedback capabilities has been designed for using as a haptic interface (HI) in virtual environments and teleoperators. The HI system is devised to address tasks performed by people with small tools, involving dextrous manipulation. The proposed manipulator new kinematics is fully parallel and actuator redundant. Actuator redundancy refers to the addition of more actuators than strictly necessary to control the mechanism, without increasing the mobility. The use of this form of redundancy includes the ability to partially control the internal forces and augments the kinematic dexterity. A new tendon drive is used for each of the six degrees of freedom, allowing all actuators to be fixed to the ground. Kinematic optimization of the dexterity and redundant actuation analysis of the manipulator has been developed.

Dextrous haptic interaction in virtual environments: human performance evaluations

Abstract: In this paper, we report two human factors studies performed to investigate human performance in tasks involving dextrous manipulations of virtual objects with haptic feedback. These studies were performed at the Man-Machine Interface Laboratory (Rutgers University, NJ, USA) and at the Laboratoire de Robotique de Paris (CRIIF-LRP). Different haptic devices were used : the Rutgers Master, the LRP Force Feedback Glove (LRP), and the ITR device (Interface Technology Research, UK). These experiments involved (1) accurate placements of virtual objects and (2) grasping-force regulation. In the former case, we compared the LRP FFG (that provides complex haptic cueing) and the ITR device(that provides binary haptic cueing : grasped/not grasped). In the latter case, we investigated the effect of sensory substitution (synesthetic representation of haptic informations) to convey virtual haptic cues using the visual and auditory sensory channels. Results of the experiments showed that (1) information redundancy (display of visual or auditory force feedback in addition to finger force feedback) allowed to increase performance compared to finger force feedback alone, and (2) simple tactual feedback (provided by the ITR device) allowed similar performance than complex force feedback (provided by the LRP FFG). This result led us to think that complex force feedback cues are not required in simple manipulation task (i.e. when grasping regulation forces is not crucial). In this case binary haptic information could be sufficient.

The MORIS simulator

Abstract: This paper describes the results of the design of the actuation system of the MORIS two-wheeled vehicle simulator. After the description of the general overview of the simulator an excursus of the various design steps is reported, concluding with the depiction of the constructive drawings and the general layout of the simulator.

Adaptive behavior for cooperation: a virtual reality application

Abstract: We present a behavioral system based on artificial life for animating actors in a virtual reality application. Through a virtual soccer game, we show how a set of autonomous players (called agents) can cooperate and communicate to perform common tasks. The user is immersed in the game. He/she interacts with the other agents and is integrated in the cooperation and communication systems. Every entity reads in real-time by using a classifiers system which is composed of a set of binary rules and a reward system. The originality of such method is the ability to build a behavior (by emergence) without initial knowledge. The analysis of the simulation gives interesting results: after convergence, the global behavior of the teams produces coherent movements. Moreover, the introduction of disturbances does not affect the performances of the classifiers system.

Gesture recognition for human-friendly interface in designer-consumer cooperate design system

Abstract: A future system for flexible manufacturing must be a sensor-complex for multi-modality with high intelligence, since such a system should work with a human who has a variety of expression methods and acceptance channels. The paper describes three topics from our researches on gesture and haptic interfaces which can be introduced for a human-friendly interface in a designer-consumer cooperative production system. The first one is a gesture information acquisition method using an image processing technique. The second one is another gesture recognition system by employing accelerometers to measure the forces applied to the body. A haptic-communication device is introduced as the third topic of the paper. It is able not only to detect grasping force and the device orientation, but also to display the tactile sensation using the vibration motors to realize human-machine and human-human haptic communications.

Factory workers-oriented programless visual inspection system

Abstract: When inspection equipment based on visual recognition is integrated in production sites the recognition logic is custom designed to satisfy the specific inspection normally requiring constant attention and recognition program modifications by specialty engineers. In order to improve the situation the paper proposes "programless (programming free) visual recognition technology: a core technology used in inspection equipment that can autonomously improve recognition algorithms by feeding human know-how back into the system. As a step to realizing the object and matching kernel adjusting agent and inspection logic database and macro commands are described.

oRis: an agents communications language for distributed virtual environments

Abstract: In this paper, we present oRis which is a multiagent language. This language is particularly well adapted to the creation of applications in distributed virtual environments. oRis language is agent oriented (active object) and interpreted. The interpreter is written in C++. Then, oRis allows a deep coupling with C++ language. Moreover, due to the oRis/C++ coupling, oRis may be connected to other languages. For example, we are able to call Java for network communication. In its basic version, oRis authorizes different types of communications between agents located on the same machine: synchronous, asynchronous and diffusion. Thus, we have developed a communication layer allowing communication among distant agents located on different machines.

Virtual dynamic prototyping for operator interface design

Abstract: Currently in vehicle design situations, the design of a human-vehicle interface may require multiple costly iterations. Once a prototype is built, the design can be tested and adjustments can be made. However, modifications made this late in the design process can be costly, especially if changing one component forces the revision of others. The goal of this ongoing project, which is funded by John Deere Corporation, is to develop a flexible prototyping system that allows the engineer to examine and modify an operator interface early in the design process. In this project, robotic elements such as an industrial robot and force feedback joysticks and levers are used in conjunction with graphics and existing control hardware like levers, switches, pedals, and joysticks to create an environment which can be readily reconfigured and tested without lengthy design changes.

Automatic extraction of facial organs and recognition of facial expressions

Abstract: This paper deals with the method to realize automatic contour extraction of facial organs such as eyebrows, eyes and mouth for the deformed face, and automatic categorization and recognition of facial expressions by using unsupervised neural network. We define the elastic contour model in order to hold the contour shape and then determine the elastic energy acquired by the amount of modification of the elastic contour model. We also define the image energy obtained by brightness differences of the control points on the elastic contour model. Applying the dynamic programming method, we determine the contour position where the total value of the elastic energy and the image energy becomes minimum. We use the transformation value of the control points on the elastic contour model as a facial information for the neural net training and for the recognition test obtained from 20 subjects in terms of 6 typical facial expressions. We found that a 76% correct recognition rate was achieved.

User testing and design iteration of the ProVAR user interface

Abstract: The ProVAR (Professional Vocational Assistant Robot) system is designed for use by a person with a high-level physical disability to manipulate physical objects in an office desktop environment and to access the functions of a networked personal computer. Typical objects (e.g., computer media, cups, videotapes, medication, sheets of paper) support vocational tasks and activities of daily living. The ProVAR interface is programmed to platform-independent Web-based software standards, notably HTML, VRML and Java, to facilitate future development efforts and the use of the software by all personal computer users. This paper will discuss recent developments in the interface design and user testing of the first iteration of the interface.

A method of kansei acquisition to 3D shape design and its application

Abstract: For personal design of HUTOP (a human-ergonomics-oriented design method), a support system like a "design adviser" which customizes the design with customer's kansei is indispensable. To realize this system, the technology that acquires customer's taste and changes customer's request into the physical parameter for the product design is needed. Although some methods for such system have been proposed, the methods that consider customer's individuality and also handle 3D shape are few. Because of this point, we propose a method of kansei acquisition to 3D shape. The method is based on 3D shape deformation and machine learning techniques, and can model the relationship between 3D shape and kansei about them. Sofa was chosen as an example of design and an experiment for testing the method was made, and then some problems were made clear.

Visual, tactile and gazing line - action linkage system for 3D shape evaluation in virtual space

Abstract: A new virtual system for shape evaluation is proposed, which integrates the visual information in virtual space and the tactile and gazing line-action information in real space. The preference of 3D shape images in the proposed virtual space is compared with that of the real photoforming products made from the same data in 28 subjects by the sensory evaluation of paired comparison and the questionnaire analysis. It was found that the preference for shapes was consistent in both spaces in the relation of preference among shapes based on the Bradley-Terry model in sensory evaluation. This indicates that the proposed system provides almost the same environment as the real space for shape evaluation. The results of questionnaire also indicate that the proposed system is adequate to evaluate the 3D shapes in virtual space. The system enables one to investigate the human's sense for shape evaluation by handling the visual, tactile and gazing fine-action information.

A comparative study between real force made in experiment and virtual force made in octree-based algorithm

Abstract: In this paper, we improve the precision of an efficient algorithm for generating a virtual impulse force between static and dynamic objects in a 3D graphics environment. The authors proposed an efficient algorithm to generate a virtual impulse force based on the octree representation. In the octree representation, all patches of objects are synchronously sorted by X, Y, and Z axes, and therefore their interference can be picked up by the synchronous binary search on the three axes. In fact, collisions between two objects with hundred or more patches can be retrieved less than a few milli-second at a popular personal computer. Because of the performance, the algorithm can be used in a sensor feedback control. The leftover problem of our algorithm is to increase a reality of a generated force. In this research, we assume both objects are defined as iron. In this case, to find an initial contact between vertex and patch of different objects or edge and edge of them is great importance. For this purpose, we develop an efficient algorithm to find the initial contact. Then, we build models of contact and friction and calibrate them by comparing a real force made in an experiment with a virtual force generated by our algorithm. By the experimental comparison, we increase the precision of an impulse force composed of contact and friction forces in our algorithm.

Design, control and evaluation of a six DOF force feedback interface for virtual reality applications

Abstract: In this paper we present a new six degrees of freedom haptic interface based on Stewart platform. The long-term objective of the system design is to give the possibility for a surgeon to practice endoscopic procedures repeatedly until perfect before performing it on a patient. The device has been integrated in a virtual reality (VR) simulation which allows the user to perform gestures and optimize endoscopic movements. The control law scheme is composed by two loops : (1) the inner loop dedicated for cartesian displacements control, and (2) the outer loop used to take into account contact occurred with the environment and to regulate the relationship between endoscope end-point position and environment's force reaction.

Study on new face robot platform for robot-human communication

Abstract: The objective of this study is to investigate the intelligence of communication of the intelligent machine such as a human-friendly robot working in the environment where human and robot coexist. For this purpose, it seems necessary to create a human friendly robot that can communicate with human beings as a test bed and/or platform. Since the face and facial expressions are very crucial for communication, we develop a face robot which has a human-like face and can express facial expressions similar to human being. The important factors of face robot for coexistence and communication with humans are: 1) small and compact, and 2) easy to control. Air cylinders with pressurized air have previously been used for the robot's face, to accomplish these two factors. In this paper we attempt to use SMA (shaped memory alloy) actuators driven by electricity. We present the prototype of the new SMA-actuated face robot and show the typical ability that can be achieved.

Behavior learning of a face robot using human natural instruction

Abstract: In this paper, based on the concept "learning oriented interaction " (LOI) as a basic strategy of organizing the sensorymotor coordination for the interacting robot, we first point out the problems of the conventional approach to realize LOI, i.e. the "direct instruction method". Then we propose an alternative approach, i.e. the "natural instruction method", and we conduct the experiments using a face robot system in order to evaluate the effectiveness of the new method in real robot-interaction with human. We explain briefly the concept of LOI and point out its problems.

Time delay analysis in teleoperation system

Abstract: We classify the data class according to their characteristics and endow with corresponding priority. To reduce time delay in teleoperation system, a dynamic scheduling policy is adopted. The dynamic scheduling policy processes high priority classes first, and then services low priority classes. The classes having low priority can be served in later sampling interval. It is important to maintain sampling interval to be consistent for stable operation of robot controller. In this paper, we analyze data traffic in teleoperation system and suggest the algorithm to control it. Through real experiment, we show the validity of this policy.

Experiments of haptic and tactile display for human telecommunication

Abstract: We propose a new interactive interface that uses force and tactile information for human telecommunication and for human-machine communication in real environment. The proposed system uses a robot arm as an interface terminal device. Two robot arms are connected through a digital communication line and control each other. A force communication is realized when users attach their arms to the robot arms at both sides of the communication line. A teletactile sensing is performed to touch the surface of the distant object using a master-slave control of the robot arm with tactile sensor and display. Some experiments of the proposed haptic and tactile interface were carried out and promising results were obtained.

Supply chain management with multi-agent paradigm

Abstract: Supply chain management is not always concerned with the optimal solutions in terms of product allocation. A market mechanism solves the product distribution problem by allocating the scheduled resources according to market prices. We formulate a supply chain model as a discrete resource allocation problem, and demonstrate the applicability of economic analysis to this framework. The proposed algorithm facilitates sophisticated supply chain management, which produces a pareto optimal solution in the product distribution system.

Attractive interface for human robot interaction

Abstract: This paper describes a human robot interface, called the attractive interface, which promotes rich encounters between humans and robots. Considering the expected participation of robots in human society, the interface employs not only communication devices, like a speech synthesis system, but also a mechanism to promote the rich encounters. This key mechanism of the attractive interface is an agent migration mechanism that employs a personal CG agent as the interface between human and robot. This paper also proposes a robot tour guide system based on the attractive interface, and discusses the effect of agent migration.

Haptic interfaces as aids for visually impaired persons

Abstract: At the University of Bologna, an interdisciplinary project is active in order to investigate the possibility of implementing and testing a robotic system to help the mobility of visually impaired persons. The adopted solution is based on the conversion of stereo vision images into virtual "bas-relief" surfaces, perceivable by the user by means of a suitable (portable) haptic interface. In the paper, details on the adopted solutions and the developed prototypes are given as well as the experimental results obtained so far.