Alle Publikationen
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2014
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(2014): A Framework for User-Defined Body Gestures to Control a Humanoid Robot. In: International Journal of Social Robotics 6 (3), S. 383-396. DOI: 10.1007/s12369-014-0233-3
Abstract: This paper presents a framework that allows users to interact with and navigate a humanoid robot using body gestures. The first part of the paper describes a study to define intuitive gestures for eleven navigational commands based on analyzing 385 gestures performed by 35 participants. From the study results, we present a taxonomy of the user-defined gesture sets, agreement scores for the gesture sets, and time performances of the gesture motions. The second part of the paper presents a full body interaction system for recognizing the user-defined gestures. We evaluate the system by recruiting 22 participants to test for the accuracy of the proposed system. The results show that most of the defined gestures can be successfully recognized with a precision between 86100 % and an accuracy between 7396 %. We discuss the limitations of the system and present future work improvements.
2011
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(2011) : I'll keep an eye on you: Home robot companion for elderly people with cognitive impairment: IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2011: 9-12 Oct. 2011, Anchorage, Alaska, USA ; conference proceedings ; [including workshop papers]: EEE International Conference on Systems, Man and Cybernetics (IEEE SMC); Annual Workshop on Brain-Machine Interfaces; Workshop on Robust Machine Learning Technologies for Human Activity Detection Using Body-Worn Sensors: 2011 IEEE International Conference on Systems, Man and Cybernetics - SMC: Anchorage, AK, USA: 10/9/2011 - 10/12/2011: Piscataway, NJ: IEEE, S. 2481-2488
Abstract: The paper gives an overview of the progress in developing a socially assistive home robot companion for elderly people with mild cognitive impairment (MCI) living alone at home. The spectrum of required assistive functionalities of such a robot companion is broad and reaches from reminding functions (e.g. taking medication or drinking) and cognitive stimulation exercises, via mobile videophony with relatives or caregivers, up to the detection and evaluation of critical situations, like falls. The paper is addressing several aspects of our work as part of the European FP7 project “CompanionAble”, as for example the developed robot hardware and its software and control architecture, the implemented skills for robust user detection and tracking and user-centered navigation in the home environment, and reports on already conducted and still ongoing functionality testings and pending usability studies with the end-user target groups (the elderly, relatives, caregivers).
Keywords: Alltag, assistive robotics, Cameras, cognitive stimulation exercise, CompanionAble project, CONTROL ARCHITECTURE, elderly people, Gesundheit, handicapped aids, home automation, ieee xplore, mild cognitive impairment, Mobile robots, mobile videophony, Navigation, robot control architecture, Robot kinematics, Robot navigation, Robot vision systems, robust user detection, socially assistive robot companion, Software, user observation, user-centered navigation, videotelephony
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