Alle Publikationen
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2012
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(2012) : Using psychophysiological feedback to enhance physical human robot interaction in a cooperative scenario: 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob): 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob): Rome, Italy: IEEE, S. 1176-1181
DOI: https://doi.org/10.1109/BioRob.2012.6290845 Abstract: ”Human state aware” systems, may be able to improve physical human-robot interaction (pHRI) by adapting their behavior and cooperation level accordingly to human psychophysiological feedback. This paper reviews the impact of the emotions on the motor control performance, and studies the possibility of improving the perceived skill/challenge relation on a multimodal neural rehabilitation scenario. For this purpose, a biocooperative controller that modulate the assistance given by a robotic haptic interface in reaction to undesirable physical and mental states was designed. Open and closed loop experiments made over eleven non impaired subjects, shows that psychophisiological feedback estimates, can help considerably on improving pHRI in a cooperative scenario.
2007
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(2007) : Emotional Architecture for the Humanoid Robot Head ROMAN: Proceedings 2007 IEEE International Conference on Robotics and Automation: Roma, Italy: IEEE Robotics & Automation Society, S. 2150-2155
DOI: https://doi.org/10.1109/ROBOT.2007.363639 Abstract: Humanoid robots as assistance or educational robots is an important research topic in the field of robotics. Especially the communication of those robots with a human operator is a complex task since more than 60% of human communication is conducted non-verbally by using facial expressions and gestures. Although several humanoid robots have been designed it is unclear how a control architecture can be developed to realize a robot with the ability to interact with humans in a natural way. This paper therefore presents a behavior-based emotional control architecture for the humanoid robot head ROMAN. The architecture is based on 3 main parts: emotions, drives and actions which interact with each other to realize the human-like behavior of the robot. The communication with the environment is realized with the help of different sensors and actuators which will also be introduced in this paper.
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