Alle Publikationen
2019
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(2019) : A Robot Barista Comments on its Clients: Social Attitudes Toward Robot Data Use: 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Daegu, Korea: IEEE, S. 66-74
2018
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(2018): From AI to Robotics. Mobile, Social, and Sentient Robots. 1st ed.. Boca Raton: CRC Press. Online verfügbar unter https://ebookcentral.proquest.com/lib/gbv/detail.action?docID=5312950
Abstract: Cover -- Half Title -- Title Page -- Copyright Page -- Dedication -- Table of Contents -- Preface -- Acknowledgements -- About the Author -- SECTION I: Theory -- CHAPTER 1: . . . and then there were mobile robots -- 1.1 EARLY PIONEERS AND THE STORY TILL SHAKEY -- 1.1.1 Walter`s turtles -- 1.1.2 Shakey and the Stanford Cart -- 1.2 CURRENT-DAY MOBILE ROBOTICS -- 1.3 CULTURAL AND SOCIAL IMPACT -- 1.3.1 Science fiction, entertainment industry, medical surgery and military -- 1.3.2 Do robots pose a threat for human beings? -- CHAPTER 2: Embodied AI, or the tale of taming the fungus eater -- 2.1 FROM AI TO ROBOTS -- 2.2 ARTIFICIAL INTELLIGENCE FOR ROBOTS -- 2.2.1 What is an `agent' ? -- 2.3 EMBODIED AI - MAKING OF AUTONOMOUS AGENTS -- 2.3.1 Toda's model for fungus eaters -- 2.3.2 Design principles for autonomous AI agents -- 2.4 ANTHROPOMORPHISM â A TREASURE TROVE FROM MOTHER NATURE -- 2.4.1 Concepts from semiotics â `UMWELT' -- 2.4.2 Concepts from ecology â Uniqueness of vision -- 2.4.3 Concepts from psychology â Behaviourism -- 2.4.4 Artficial animals â ANIMAT -- 2.5 EVALUATING PERFORMANCE - AI VS. ENGINEERING -- 2.6 THREE FORKS IN THE ROAD -- 2.6.1 The problem of completeness â Planning is NP-hard -- 2.6.2 The problem of meaning â The symbol grounding problem -- 2.6.2.1 Solving the symbol grounding problem -- 2.6.3 The problem of relevance â The frame problem -- 2.6.3.1 Representations â The root of all evil -- CHAPTER 3: Control paradigms formobile robots -- 3.1 CONTROL PARADIGMS -- 3.2 BRAITENBERGâS VEHICLES 1 TO 4 â ENGINEERING BEHAVIOUR -- 3.3 DELIBERATIVE APPROACH -- 3.3.1 Shortcomings of the deliberative approach -- 3.3.2 From animals to robots -- 3.3.3 Robots and computers are fundamentally different -- 3.4 REACTIVE APPROACH -- 3.4.1 Subsumption architecture and the nouvelle AI -- 3.4.2 Motor schema 3.4.3 Action selection & bidding mechanisms -- 3.5 A CRITIQUE OF THE NOUVELLE AI -- 3.5.1 Issues with the nouvelle AI -- 3.5.1.1 Implementation issues in subsumption architecture -- 3.5.1.2 Issues with motor schema -- 3.5.2 Extending reactive approach to higher functions -- 3.6 HYBRID ARCHITECTURES -- SECTION II: Implementation, or How to Make Robots -- CHAPTER 4: Tools for a roboticist -- 4.1 THE TOOLS: NAVIGATION AND ADAPTIVITY -- 4.2 NAVIGATION, PATH PLANNING AND MAPPING -- 4.2.1 A * and bug algorithms -- 4.2.2 Considerations for navigation -- 4.2.3 Artificial potential fields -- 4.2.4 Nearness Diagram (ND) -- 4.2.5 Navigation in three dimensions -- 4.3 ADAPTIBILITY AND LEARNING -- CHAPTER 5: Software, simulation & control -- 5.1 SOFTWARE FOR ROBOTICS -- 5.2 A VERY SHORT INTRODUCTION TO ROS -- SECTION III: Robot-Robot & Human-Robot Interactions -- CHAPTER 6: Robot-robot interaction, groups and swarms -- 6.1 MANY ROBOT SYSTEMS -- 6.2 NETWORKED ROBOTICS -- 6.3 SWARM ROBOTICS -- 6.3.1 Relating agent behaviour to the collective behaviour -- 6.3.2 Signatures of swarm robotics -- 6.3.2.1 Minimalism: Non-intelligent robot, intelligent swarm -- 6.3.2.2 Stigmergy: Indirect interactions -- 6.3.2.3 Emergence: Swarm behaviour is difficult to model -- 6.3.2.4 Phase change: Disorder to order -- 6.3.2.5 Self organisation: A dynamically stable swarm -- 6.3.3 Metrics for swarm robotics -- 6.3.4 Swarm Engineering â Visions for a new technology -- CHAPTER 7: Human-robot interaction and robots for human society -- 7.1 HUMAN-ROBOT INTERACTION -- 7.1.1 Distributed cognition -- 7.2 SOCIAL ROBOTICS -- 7.2.1 Design for social robots -- 7.2.1.1 Aesthetics -- 7.2.1.2 Facial traits -- 7.2.1.3 Natural language processing (NLP) -- 7.3 APPLICATIONS -- 7.3.1 Service robots, with a social face -- 7.3.1.1 CERO â Cooperative embodied robot operator 7.3.2 Robots in elderly care -- 7.3.2.1 Care-O-bot 3 â The smart butler -- 7.3.2.2 Hobbit â Returning a robot's favour -- 7.3.3 Companion robot and robot therapy -- 7.3.3.1 Paro - The cute robotic seal -- 7.3.3.2 KASPAR â Kinesics and synchronization in personal assistant robotics -- 7.3.4 Museum guide and receptionist robots -- 7.3.5 Functional robots, more than just smart machines -- 7.3.5.1 Explorer robots â new age fungus eaters -- 7.3.5.2 Search and rescue robots -- 7.4 JAPAN, ROBOT HISTORY IN THE MAKING -- CHAPTER 8: Robots with moral agency, in the footsteps of Asimov -- 8.1 THE NEED FOR THE GOOD ROBOT -- 8.2 MORALITY AND ETHICS -- 8.3 ASIMOVâS 3 LAWS AND THEIR LIMITATIONS -- 8.4 ETHICAL THEORY FOR ROBOTS -- 8.4.1 Deontology -- 8.4.2 Consequentialism -- 8.4.3 Deontology vs. Consequentialism â The trolley problem -- 8.4.4 Implementing ethics as an architecture -- 8.4.4.1 The ethical architecture â action logic, in military robots -- 8.4.4.2 Consequence engine â using fast simulations for internal models -- 8.4.4.3 First implementation, development of a carer robot with deontic ethics -- 8.4.5 Virtue ethics -- 8.5 SOCIAL CHANGES AND THE NEAR FUTURE -- SECTION IV: ... the Future -- CHAPTER 9: Quest for the sentient robot -- 9.1 CAN ROBOTS BE CONSCIOUS? -- 9.2 SELF AWARENESS, CONSCIOUSNESS AND FREE WILL -- 9.2.1 Self awareness -- 9.2.2 Consciousness -- 9.2.3 Free will -- 9.3 FROM MACHINES TO (NEAR) HUMAN BEINGS -- 9.4 SEMI-SENTIENT PARADIGM AND ITâS LIMITATIONS -- 9.5 MEMORIES, MEDITATION AND THE INNER WORLD -- 9.6 EXPERIMENTS â COG, MIRROR COGNITION AND THE 3 WISE ROBOTS -- 9.6.1 From reactive architecture -- 9.6.1.1 Cog -- 9.6.1.2 Consciousness based architecture -- 9.6.2 From cross-modal bindings -- 9.6.2.1 Cog's tambourine experiment -- 9.6.2.2 Nico's drumming -- 9.6.3 Mirror cognition 9.6.3.1 A very simple implementation of the mirror test in robots -- 9.6.3.2 Haikonen's somatosensory model -- 9.6.3.3 Designing the mirror test with MoNADs -- 9.6.4 Psychometric AI â The knowledge game -- CHAPTER 10: Super intelligent robots and other predictions -- 10.1 PEERING INTO THE CRYSTAL BALL -- 10.2 TWILIGHT OR REBIRTH OF OUR CIVILISATION? -- 10.3 SUPERINTELLIGENCE, FUTURE TECHNOLOGY AND RAY KURZWEIL -- 10.3.1 Super intelligence -- 10.3.2 "To singularity and beyond -- 10.3.3 Alternate opinions & containment of AI -- Appendix A: Running The Examples -- A.1 BRAITENBERG SIMULATOR -- A.2 WALLE EVA CHAT -- References -- Index
Keywords: Soziale Robotik -
(2018) : A Concept for Productivity Tracking based on Collaborative Interactive Learning Techniques In: ARCS: ARCS Workshop 2018; 31th International Conference on Architecture of Computing Systems: Berlin, Germany: Axel Springer SE, S. 1-8. Online verfügbar unter https://ieeexplore.ieee.org/document/8385431/
Abstract: The academic success of individual students differs widely and it depends on various factors, ranging from financial to social and to health aspects. In this article, we propose a concept for a novel productivity tracking system that provides the basis for a self-assessment of academic behaviour and that can be used by students to support their academic success. The development of such a system requires interdisciplinary efforts, most of them located in the field of collaborative interactive learning (CIL) that is grounded on a socio-technical system perspective. The system is interactive since it is based on bidirectional communication, collaborative in the sense that it uses students, other students, and external sources such as the Internet for generation of knowledge, and learning in the sense that it continuously and autonomously acquires knowledge. It is further self-organised as it decides about interaction partners and self-adaptive in terms of modifying its behaviour according to changing conditions.
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(2018) : Real-time Intelligent Tele-Care Assistance Systems In: Institute of Electrical and Electronics Engineers: Broadband Coverage in Germany; 12th ITG-Symposium: Berlin, Germany: VDE Verlag GmbH, S. 1-4. Online verfügbar unter https://ieeexplore.ieee.org/document/8385230/
Abstract: The combination and fusion of technologies and procedures from "Ambient Assisted Living" (AAL), "Human-Technology Interaction" (MTI) and "eHealth" to target a real-time capable sensor data analysis-framework is the re-search focus of the "fast care"-project. This project is a part of the combined "fast" consortium at the Technical University of Dresden, which consists of more than 25 project parts working on the Next Generation 5G haptic internet. "Fast care" is focused on haptic care in the home environment. Measurements and observations by an adhoc-networked, real-time sensor infrastructure are performed with the aim of creating an integrated situation picture for direct interaction with an actor infrastructure or for the generation of a future forecast - with a latency period of less than 10 ms.
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(2018) : A Rule-Based Approach for Self-Optimisation in Autonomic EHealth Systems In: ARCS: ARCS Workshop 2018; 31th International Conference on Architecture of Computing Systems: Berlin, Germany: Axel Springer SE, S. 1-4. Online verfügbar unter https://ieeexplore.ieee.org/document/8385432/
Abstract: Advances in machine learning techniques in recent years were of great benefit for the detection of diseases/medical conditions in eHealth systems, but only to a limited extend. In fact, while for the detection of some diseases the data mining techniques were performing very well, they still got outperformed by medical experts in about half of the tests done. In this paper, we propose a hybrid approach, which will use a rule-based system on top of the machine learning techniques in order to optimise the results of conflict handling. The goal is to insert the knowledge from medical experts in order to optimise the results given by the classification techniques. Possible positive and negative effects will be discussed.
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(2018) : Towards Proactive Health-enabling Living Environments: Simulation-based Study and Research Challenges In: ARCS: ARCS Workshop 2018; 31th International Conference on Architecture of Computing Systems: Berlin, Germany: Axel Springer SE, S. 1-8. Online verfügbar unter https://ieeexplore.ieee.org/document/8385433/
Abstract: Nowadays, information and communication technology (ICT) has become a key driver for future health-enabling and ambient assisted living technologies. These future health-enabling living environments proactively anticipate the inhabitants' needs and adapt their behaviour accordingly. They further continuously monitor the behaviour of the inhabitants and may call in support in suspicious cases. In this article, we present an architectural blueprint for such a proactive living environment and highlight the corresponding challenges for research in the field. Afterwards, we present a simulation as experimental platform for learning the daily routine of inhabitants of a flat-sharing community of senior citizens. The experimental evaluation highlights that probably unusual behaviour of persons can be detected using a probabilistic approach, which may serve as an indicator for external support.
2017
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(2017): Structured learning for spoken language understanding in human-robot interaction. In: INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 36 (5-7), S. 660-683
Abstract: Robots are slowly becoming a part of everyday life, being marketed for commercial applications such as telepresence, cleaning or entertainment. Thus, the ability to interact via natural language with non-expert users is becoming a key requirement. Even if user utterances can be efficiently recognized and transcribed by automatic speech recognition systems, several issues arise in translating them into suitable robotic actions and most of the existing solutions are strictly related to a specific scenario. In this paper, we present an approach to the design of natural language interfaces for human robot interaction, to translate spoken commands into computational structures that enable the robot to execute the intended request. The proposed solution is achieved by combining a general theory of language semantics, i.e. frame semantics, with state-of-the-art methods for robust spoken language understanding, based on structured learning algorithms. The adopted data driven paradigm allows the development of a fully functional natural language processing chain, that can be initialized by re-using available linguistic tools and resources. In addition, it can be also specialized by providing small sets of examples representative of a target newer domain. A systematic benchmarking resource, in terms of a rich and multi-layered spoken corpus has also been created and it has been used to evaluate the natural language processing chain. Our results show that our processing chain, trained with generic resources, provides a solid baseline for command understanding in a service robot domain. Moreover, when domain-dependent resources are provided to the system, the accuracy of the achieved interpretation always improves.
Keywords: Algorithmen, doppelter Treffer, frame semantics, Frame-Semantik, Interaktion, Korpus, Mensch-Maschine-Kommunikation, Mensch-Technik-Interaktion, Mensch-Technik-Relationen (MTR), narürliche Sprache, natural language interface, Observablen/Kriterien für sozial angemessenes Verhalten und dessen Bewertung, Realtechnik, Robotik, Serviceroboter, Soziale Angemessenheit, Soziale Robotik, speech processing, Sprache, Sprachgebrauch, Sprachverarbeitung, Sprachverstehen, Status / biologische Marker, structured learning algorithm, Technik -
(2017) : Strategies and mechanisms to enable dialogue agents to respond appropriately to indirect speech acts In: IEEE Ro-Man: Human-robot collaboration and human assistance for an improved quality of life: IEEE RO-MAN 2017 : 26th IEEE International Symposium on Robot and Human Ineractive Communication : August 28-September 1, 2017, Lisbon, Portugal: Piscataway, NJ: IEEE, S. 323-328
Abstract: Humans often use indirect speech acts (ISAs) when issuing directives. Much of the work in handling ISAs in computational dialogue architectures has focused on correctly identifying and handling the underlying non-literal meaning. There has been less attention devoted to how linguistic responses to ISAs might differ from those given to literal directives and how to enable different response forms in these computational dialogue systems. In this paper, we present ongoing work toward developing dialogue mechanisms within a cognitive, robotic architecture that enables a richer set of response strategies to non-literal directives.
Keywords: Antworten im Rahmen einer Konversation, Computerwissenschaft, indirect speech acts, Indirektheit, Informations- & Kommunikationstechnik, Interaktionspartner, Konversationsanalyse, Korrespondenz, Künstliche Intelligenz, Linguistik, Mensch oder Maschine, Mensch-Technik-Relationen (MTR), nicht wörtlich, non-literal meaning, Realtechnik, Semantik, Soziale Robotik, Sprachgebrauch, Sprachroboter, Sprachverarbeitung, Sprechakt, Technik, Unterschiedliche Antworten je nach Direktheit/Indirektheit des vorherigen Sprechaktes -
(2017): Ethical values and social care robots for older people. An international qualitative study. In: Ethics and Information Technology 19 (1), S. 49-68. DOI: 10.1007/s10676-016-9413-1
Abstract: Values such as respect for autonomy, safety, enablement, independence, privacy and social connectedness should be reflected in the design of social robots. The same values should affect the process by which robots are introduced into the homes of older people to support independent living. These values may, however, be in tension. We explored what potential users thought about these values, and how the tensions between them could be resolved. With the help of partners in the ACCOMPANY project, 21 focus groups (123 participants) were convened in France, the Netherlands and the UK. These groups consisted of: (i) older people, (ii) informal carers and (iii) formal carers of older people. The participants were asked to discuss scenarios in which there is a conflict between older people and others over how a robot should be used, these conflicts reflecting tensions between values. Participants favoured compromise, persuasion and negotiation as a means of reaching agreement. Roles and related role-norms for the robot were thought relevant to resolving tensions, as were hypothetical agreements between users and robot-providers before the robot is introduced into the home. Participants' understanding of each of the values-autonomy, safety, enablement, independence, privacy and social connectedness-is reported. Participants tended to agree that autonomy often has priority over the other values, with the exception in certain cases of safety. The second part of the paper discusses how the values could be incorporated into the design of social robots and operationalised in line with the views expressed by the participants.
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(2017): Teaching Robot’s Proactive Behavior Using Human Assistance. In: International Journal of Social Robotics 9 (2), S. 231-249. DOI: 10.1007/s12369-016-0389-0
Abstract: In recent years, there has been a growing interest in enabling autonomous social robots to interact with people. However, many questions remain unresolved regarding the social capabilities robots should have in order to perform this interaction in an ever more natural manner. In this paper, we tackle this problem through a comprehensive study of various topics involved in the interaction between a mobile robot and untrained human volunteers for a variety of tasks. In particular, this work presents a framework that enables the robot to proactively approach people and establish friendly interaction. To this end, we provided the robot with several perception and action skills, such as that of detecting people, planning an approach and communicating the intention to initiate a conversation while expressing an emotional status. We also introduce an interactive learning system that uses the person's volunteered assistance to incrementally improve the robot's perception skills. As a proof of concept, we focus on the particular task of online face learning and recognition. We conducted real-life experiments with our Tibi robot to validate the framework during the interaction process. Within this study, several surveys and user studies have been realized to reveal the social acceptability of the robot within the context of different tasks.
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Kheddar, Abderrahmane; Yoshida, Eiichi; Ge, Shuzhi Sam; Suzuki, Kenji; Cabibihan, John-John; Eyssel, Friederike; He, Hongsheng (Hg.) (2017): Social Robotics. 9th International Conference, ICSR 2017, Tsukuba, Japan, November 22-24, 2017, Proceedings. Cham: Springer International Publishing (Lecture Notes in Computer Science)
Abstract: Learning Affordances for Assistive Robots -- Initial Design, Implementation and Technical Evaluation of a Context-aware Proxemics Planner for a Social Robot -- An Image based Non-verbal Behaviour analysis of HRI -- Do Social Rewards from Robots Enhance Offline Improvements in Motor Skills? -- How the Timing and Magnitude of Robot Errors Influence Peoples' Trust of Robots in an Emergency Scenarios -- The Iterative Development of the Humanoid Robot Kaspar: An Assistive Robot for Children with Autism -- The Interaction Between Voice and Appearance in the Embodiment of a Robot Tutor -- Shape It - The Influence of Robot Body Shape on Gender Perception in Robots -- A Telepresence Robot in Residential Care: Family Increasingly Present, Personnel Worried about Privacy -- Influence of Robot's Interaction Style on Performance in a Stroop Task -- `Autistic Robots' for Embodied Emulation of Behaviors Typically Seen in Children with Different Autism Severities -- Learning Relationships between Objects and Places by Multimodal Spatial Concept with Bag of Objects -- There once was a Robot Storyteller: Measuring the Effects of Emotion and non-verbal Behaviour -- Field testing of the influence of assistive wear on the physical fitness of nursing-care workers -- Developing Interaction Scenarios with a Humanoid Robot to Encourage Visual Perspective Taking Skills in Children with Autism - Preliminary Proof of Concept Tests -- Human-like Hand Reaching by Motion Prediction using Long Short-Term Memory -- User's Personality and Activity Influence on HRI Comfortable Distances -- A Need for Service Robots among Health Care Professionals in Hospitals and Housing Services -- Do you think I approve of that? Designing facial expressions for a robot -- Robotic Device to Mediate Human-Human Hug-Driven Remote Communication -- RoMa: A Hi-tech Robotic Mannequin for the Fashion Industry -- Walk the talk: Gestures in mobile interaction -- Gaze Behavioral Adaptation towards Group Members for Providing Effective Recommendations -- Subtle Reaction and Response Time Effects in Human-Robot Touch Interaction -- Young EFL learners’ attitude towards RALL: an observational study focusing on motivation, anxiety, and interaction -- Design of a Cloud-Based Robotic Platform for Accompanying and Interacting with Humans -- Influence of Environmental Context on Recognition Rates -- Creating lively behaviors in social robots -- What Went Wrong and Why? Diagnosing Situated Interaction Failures in the Wild -- Toward 3D Printed Prosthetic Hands that can Satisfy Psychosocial Needs: Grasping Force Comparisons between a Prosthetic Hand and Human Hands -- Integrating a Humanoid Robot into ECHONET-based Smart Home Environments -- A Robot that Encourages Self-Disclosure by Hug -- Hand Gestures and Verbal Acknowledgments Improve Human-Robot Rapport -- Do Audio-Visual Stimuli Change Hug Impressions? -- Impact of Tutoring Strategies in Grounded Lexicon Learning -- Yes, Of Course? An Investigation on Obedience and Feelings of Shame towards a Robot -- Dance with me! Child-robot interaction in the wild -- Rethinking the Why of Socially Assistive Robotics through Design -- Role-oriented Designing: A Methodology to Designing for Appearance and Interaction Ways of Customized Professional Social Robots -- Exploring Users' Reactions Towards Tangible Implicit Probes for Measuring Human-Robot Engagement -- Gaze-Based Hints During Child - Robot GamePlay -- Gender Difference in Expectation for Domestic Robots: A Survey in Japan -- Motor Actions Predictions and Controls for the NAO Robot when Playing Hand Clapping Games -- The importance of mutual gaze in human-robot interaction -- About Decisions During Human-Robot Shared Plan Achievement: Who Should Act and How? -- Improving User's Performance by Motivation: Matching Robot Interaction Strategy with User's Regulatory State -- Social group motion in robots -- Shopping Mall Robots - Opportunities and Constraints from the Retailer and Manager Perspective -- Dynamic Gesture Recognition for Social Robots -- Embodiment, Privacy and Social Robots: May I remember you? -- A TV Chat Robot with Time-Shifting Function for Daily-Use Communication -- Naturalistic Conversational Gaze Control for Humanoid Robots - A First Step -- Design and Implementation of a Device Management System for Healthcare Assistive Robots: Sensor Manager System Version 2 -- Dialogue Design for a Robot-Based Face-Mirroring Game to Engage Autistic Children with Emotional Expressions -- Look but Don’t Stare: Mutual Gaze Interaction in Social Robots -- Recognition of Gestural Behaviors Expressed by a Humanoid Robotic Platform for Teaching Affect Recognition to Children with Autism - A Healthy Subjects Pilot Study -- A Visual Environment for Reactive Robot Programming of Macro-level Behaviors -- Hand in Hand with Robots: Differences between Experienced and Naive Users in Human-Robot Handover Scenarios -- Subjective Stress in Hybrid Collaboration -- Development of Control Mechanism for Safety Enhancement in Bilateral Control Robot Applications -- Understanding anthropomorphism: Anthropomorphism is not a reverse process of dehumanization -- An Evaluation Tool of the Effect of Robots in Eldercare on the Sense of Safety and Security -- Becoming Real: An Anthropological Approach to Evaluating Robots in the Real World -- Human Perceptions of the Severity of Domestic Robot Errors -- What Can We Learn from the Long-Term Users of a Social Robot? -- Adaptive Emotional Chatting Behavior to Increase the Sociability of Robots -- Measuring Children's Perceptions of Robots' Social Competence: Design and Validation -- Rule Extraction Method Considering Reliability for Synchronized Behavior of Group Robots in Multi-party Conversations -- Omnidirectional Traveling Instruction for Behavior Navigation -- News Application Adaptation based on User Sensory Profile -- Robot Compliant Behaviour with Mixed-Initiative Interaction in an Obstacle Avoidance Scenario -- "Xylotism": A Tablet-Based Application to Teach Music to Children with Autism -- Starting a Conversation by Multi-Robot Cooperative Behavior -- Adaptive Strategies for Multi-Party Interactions with Robots in Public Spaces This book constitutes the refereed proceedings of the 9th International Conference on Social Robotics, ICSR 2016, held in Tsukuba, Japan, in November 2017. The 74 revised full papers presented were carefully reviewed and selected from 110 submissions. The theme of the 2017 conference is: Embodied Interactive Robots. In addition to the technical sessions, ICSR 2017 included four workshops: 1) Social Robot Intelligence for Social Human-Robot Interaction of Service Robots; 2) Human Safety and Comfort in Human-Robot Interactive Social Environments; 3) Modes of Interaction for Social Robots (MISR 2017): Postures, Gestures and Microinteractions; and 4) Religion in Robotics
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(2017): Artificial agents among us. Should we recognize them as agents proper?. In: Ethics and Information Technology 19 (1), S. 1-17. DOI: 10.1007/s10676-016-9411-3
Abstract: Abstract In this paper, I discuss whether in a society where the use of artificial agents is pervasive, these agents should be recognized as having rights like those we accord to group agents. This kind of recognition I understand to be at once social and legal, and I argue that in order for an artificial agent to be so recognized, it will need to meet the same basic conditions in light of which group agents are granted such recognition. I then explore the implications of granting recognition in this manner. The thesis I will be defending is that artificial agents that do meet the conditions of agency in light of which we ascribe rights to group agents should thereby be recognized as having similar rights. The reason for bringing group agents into the picture is that, like artificial agents, they are not self-evidently agents of the sort to which we would naturally ascribe rights, or at least that is what the historical record suggests if we look, for example, at what it took for corporations to gain legal status in the law as group agents entitled to rights and, consequently, as entities subject to responsibilities. This is an example of agency ascribed to a nonhuman agent, and just as a group agent can be described as nonhuman, so can an artificial agent. Therefore, if these two kinds of nonhuman agents can be shown to be sufficiently similar in relevant ways, the agency ascribed to one can also be ascribed to the other-this despite the fact that neither is human, a major impediment when it comes to recognizing an entity as an agent proper, and hence as a bearer of rights.
Keywords: agency, Anerkennung, Anerkennung technischer Systeme, Anerkennung und technische Systeme, Artificial agent, artificial agents, doppelter Treffer, Favoriten, Group agent, Mensch-Technik-Relationen (MTR), Modelle/Theorien, Personhood, RATIONALITY, Realtechnik, recognition and self, responsibility, Rights, Serviceroboter, Soziale Angemessenheit, Soziale Robotik, Technik -
(2017): The Influence of Politeness Behavior on User Compliance with Social Robots in a Healthcare Service Setting. In: International Journal of Social Robotics 9 (5), S. 727-743. DOI: 10.1007/s12369-017-0420-0
Abstract: Particularly in the healthcare service domain, social robots are expected to be good assistants, advisers, or practitioners. To increase the effectiveness of healthcare services provided by social robots, patients must comply with their requests. Research is plentiful on what makes patients comply with healthcare advice. In this paper, which is based on Bulgurcu's study of rationality-based beliefs, command-compliance theory, and social exchange theory, we propose a research model of compliance during interaction with social robots, examining beliefs about and overall assessments of the consequences of complying with robot requests and extending the findings of previous studies to the setting of healthcare services. We specifically investigate the perceived level of politeness in robots' speech and gestures as a determinant of compliance intention. Using a social robot, NAO, as a provider of healthcare services, we conducted an experiment. The results suggest that the aforementioned theories are useful in understanding user behaviors toward social robots in a healthcare service setting. Interestingly, and unlike in other settings, the perceived level of politeness of a social robot in a healthcare service setting negatively affects the perceived benefit of compliance, and, hence, intention to comply. A lower politeness level is closer to a command or strong recommendation than a suggestion or causal recommendation, which is common in shopping, tourism, or convention settings. The findings of this study imply that polite behavior from a social robot is an important factor in the compliance of healthcare service users. Direct speech with polite gestures is the most effective way to increase patient compliance in with healthcare advice provided by social robots in healthcare settings. However, higher levels of politeness do not always increase patients' intention to comply.
Keywords: Assistenztechnik, Befehle/eindringliche Empfehlung als Marker für Unhöflichkeit, Compliance, Disziplin, doppelter Treffer, Höflichkeit, Höflichkeitsforschung, human-robot interaction, Ingenieurswissenschaft, Interaktionspartner, Medizin, Mensch oder Maschine, Mensch-Technik-Relationen (MTR), polite social interaction, Politeness, Politeness Theory, Realtechnik, Robotics, Serviceroboter, Social exchange theory, Social robot, Soziale Angemessenheit, Soziale Robotik, Technik, Technikbezug -
(2017): Culture-specific models of negotiation for virtual characters. Multi-attribute decision-making based on culture-specific values. In: AI & Society 32 (1), S. 51-63. DOI: 10.1007/s00146-014-0570-7
Abstract: We posit that observed differences in negotiation performance across cultures can be explained by participants trying to optimize across multiple values, where the relative importance of values differs across cultures. We look at two ways for specifying weights on values for different cultures: one in which the weights of the model are hand-crafted, based on intuition interpreting Hofstede dimensions for the cultures, and one in which the weights of the model are learned from data using inverse reinforcement learning (IRL). We apply this model to the Ultimatum Game and integrate it into a virtual human dialog system. We show that weights learned from IRL surpass both a weak baseline with random weights and a strong baseline considering only one factor for maximizing gain in own wealth in accounting for the behavior of human players from four different cultures. We also show that the weights learned with our model for one culture outperform weights learned for other cultures when playing against opponents of the first culture.
Keywords: Cultural decision-making, culture specific, Disziplin, entscheiden, Inverse reinforcement learning: Hofstede, Kulturtheorie, Mensch-Technik-Relationen (MTR), NEGOTIATION, Realtechnik, Science and Technology Studies (STS), social importance dynamics, Sozial Intelligente Agenten, Soziale Robotik, Spieltheorie, Technik, Ultimatum Game, virtual agents -
(2017): A framework for designing socially assistive robot interactions. In: COGNITIVE SYSTEMS RESEARCH 43, S. 301-312. DOI: 10.1016/j.cogsys.2016.09.008
Abstract: Robots are increasingly tested in different socially assistive scenarios. Future applications range from dieting, coaching, tutoring to autism therapy. In such applications the success of the system is commonly evaluated by the ability to encourage the user to keep up with a task. Hence, one important requirement for supportive systems is to have an interactional motivational model that formalizes the way how users can be assisted. In this paper we describe our framework for coordinating motivational interaction scenarios with socially assistive robots (SAR) in the context of sport assistance. We exemplify three different sport scenarios where we have used the same motivational interaction model. Furthermore, we show how this model can be used to systematically test the different aspects of motivation in the context of SAR in sport domains. Therefore, we have conducted an experiment to evaluate the importance of acknowledgement from SAR for human interaction partners. The results show that users exercise longer if acknowledgment is included into the motivational model. (C) 2016 Elsevier B.V. All rights reserved.
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(2017): Making sense of words. A robotic model for language abstraction. In: Autonomous Robots 41 (2), S. 367-383. DOI: 10.1007/s10514-016-9587-8
Abstract: Building robots capable of acting independently in unstructured environments is still a challenging task for roboticists. The capability to comprehend and produce language in a 'human-like' manner represents a powerful tool for the autonomous interaction of robots with human beings, for better understanding situations and exchanging information during the execution of tasks that require cooperation. In this work, we present a robotic model for grounding abstract action words (i.e. USE, MAKE) through the hierarchical organization of terms directly linked to perceptual and motor skills of a humanoid robot. Experimental results have shown that the robot, in response to linguistic commands, is capable of performing the appropriate behaviors on objects. Results obtained in case of inconsistency between the perceptual and linguistic inputs have shown that the robot executes the actions elicited by the seen object.
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(2017): Toward Socially Aware Robot Navigation in Dynamic and Crowded Environments. A Proactive Social Motion Model. In: IEEE Transactions on Automation Science and Engineering 14 (4), S. 1743-1760. DOI: 10.1109/TASE.2017.2731371
Abstract: Safe and social navigation is the key to deploying a mobile service robot in a human-centered environment. Widespread acceptability of mobile service robots in daily life is hindered by robot's inability to navigate in crowded and dynamic human environments in a socially acceptable way that would guarantee human safety and comfort. In this paper, we propose an effective proactive social motion model (PSMM) that enables a mobile service robot to navigate safely and socially in crowded and dynamic environments. The proposed method considers not only human states (position, orientation, motion, field of view, and hand poses) relative to the robot but also social interactive information about human-object and human group interactions. This allows development of the PSMM that consists of elements of an extended social force model and a hybrid reciprocal velocity obstacle technique. The PSMM is then combined with a path planning technique to generate a motion planning system that drives a mobile robot in a socially acceptable manner and produces respectful and polite behaviors akin to human movements. Note to Practitioners-In this paper, we validated the effectiveness and feasibility of the proposed proactive social motion model (PSMM) through both simulation and real-world experiments under the newly proposed human comfortable safety indices. To do that, we first implemented the entire navigation system using the open-source robot operating system. We then installed it in a simulated robot model and conducted experiments in a simulated shopping mall-like environment to verify its effectiveness. We also installed the proposed algorithm on our mobile robot platform and conducted experiments in our office-like laboratory environment. Our results show that the developed socially aware navigation framework allows a mobile robot to navigate safely, socially, and proactively while guaranteeing human safety and comfort in crowded and dynamic environments. In this paper, we examined the proposed PSMM with a set of predefined parameters selected based on our empirical experiences about the robot mechanism and selected social environment. However, in fact a mobile robot might need to adapt to various contextual and cultural situations in different social environments. Thus, it should be equipped with an online adaptive interactive learning mechanism allowing the robot to learn to auto-adjust their parameters according to such embedded environments. Using machine learning techniques, e.g., inverse reinforcement learning [1] to optimize the parameter set for the PSMM could be a promising research direction to improve adaptability of mobile service robots in different social environments. In the future, we will evaluate the proposed framework based on a wider variety of scenarios, particularly those with different social interaction situations and dynamic environments. Furthermore, various kinds of social cues and signals introduced in [2] and [3] will be applied to extend the proposed framework in more complicated social situations and contexts. Last but not least, we will investigate different machine learning techniques and incorporate them in the PSMM in order to allow the robot to automatically adapt to diverse social environments.
Keywords: Disziplin, Favoriten, Human comfortable safety, Ingenieurswissenschaft, Mensch-Technik-Relationen (MTR), mobile service robots, Modelle/Theorien, proactive social motion model (PSMM), Realtechnik, Robotics, Serviceroboter, social field and polite, social robots, socially aware robot navigation, Soziale Robotik, Technik -
(2017): Design and Evaluation of a Unique Social Perception System for Human–Robot Interaction. In: IEEE Transactions on Cognitive and Developmental Systems 9 (4), S. 341-355. DOI: 10.1109/TCDS.2016.2598423
Abstract: Robot's perception is essential for performing high-level tasks such as understanding, learning, and in general, human-robot interaction (HRI). For this reason, different perception systems have been proposed for different robotic platforms in order to detect high-level features such as facial expressions and body gestures. However, due to the variety of robotics software architectures and hardware platforms, these highly customized solutions are hardly interchangeable and adaptable to different HRI contexts. In addition, most of the developed systems have one issue in common: they detect features without awareness of the real-world contexts (e.g., detection of environmental sound assuming that it belongs to a person who is speaking, or treating a face printed on a sheet of paper as belonging to a real subject). This paper presents a novel social perception system (SPS) that has been designed to address the previous issues. SPS is an out-ofthe- box system that can be integrated into different robotic platforms irrespective of hardware and software specifications. SPS detects, tracks, and delivers in real-time to robots, a wide range of human-and environment-relevant features with the awareness of their real-world contexts. We tested SPS in a typical scenario of HRI for the following purposes: to demonstrate the system capability in detecting several high-level perceptual features as well as to test the system capability to be integrated into different robotics platforms. Results show the promising capability of the system in perceiving real world in different social robotics platforms, as tested in two humanoid robots, i.e., FACE and ZENO.
Keywords: Design, Disziplin, Fähigkeit, das Gesicht eines Menschen von einem Poster im Hintergrund zu unterscheiden, Fähigkeit, Hintergrundgeräusche von einer Stimme zu unterscheiden, Fähigkeit, menschliche Anwesenheit zu erkennen, Fähigkeit, Relevantes von Irrelevantem zu unterscheiden, Favoriten, Ingenieurswissenschaft, Intelligenz, Mensch oder Maschine, Mensch-Technik-Relationen (MTR), Realtechnik, Social Perception System (SPS), Sozial Intelligente Agenten, Soziale Robotik, Soziosensitive Systeme, Technik, Technische Modelle/Frameworks/Algorithmen 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
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(2016): Making New “New AI” Friends. Designing a Social Robot for Diabetic Children from an Embodied AI Perspective. In: International Journal of Social Robotics 8 (4), S. 523-537. DOI: 10.1007/s12369-016-0364-9
Abstract: Robin is a cognitively and motivationally autonomous affective robot toddler with "robot diabetes" that we have developed to support perceived self-efficacy and emotional wellbeing in children with diabetes. Robin provides children with positive mastery experiences of diabetes management in a playful but realistic and natural interaction context. Underlying the design of Robin is an "Embodied" (formerly also known as "New") Artificial Intelligence (AI) approach to robotics. In this paper we discuss the rationale behind the design of Robin to meet the needs of our intended end users (both children and medical staff), and how "New AI" provides a suitable approach to developing a friendly companion that fulfills the therapeutic and affective requirements of our end users beyond other approaches commonly used in assistive robotics and child-robot interaction. Finally, we discuss how our approach permitted our robot to interact with and provide suitable experiences of diabetes management to children with very different social interaction styles.
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(2016): Interactive Human Intention Reading by Learning Hierarchical Behavior Knowledge Networks for Human-Robot Interaction. In: ETRI Journal 38 (6), S. 1229-1239. DOI: 10.4218/etrij.16.0116.0106
Abstract: For efficient interaction between humans and robots, robots should be able to understand the meaning and intention of human behaviors as well as recognize them. This paper proposes an interactive human intention reading method in which a robot develops its own knowledge about the human intention for an object. A robot needs to understand different human behavior structures for different objects. To this end, this paper proposes a hierarchical behavior knowledge network that consists of behavior nodes and directional edges between them. In addition, a human intention reading algorithm that incorporates reinforcement learning is proposed to interactively learn the hierarchical behavior knowledge networks based on context information and human feedback through human behaviors. The effectiveness of the proposed method is demonstrated through play-based experiments between a human and a virtual teddy bear robot with two virtual objects. Experiments with multiple participants are also conducted.
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(2016): Behavior Hierarchy-Based Affordance Map for Recognition of Human Intention and Its Application to Human–Robot Interaction. In: IEEE Transactions on Human-Machine Systems 46 (5), S. 708-722. DOI: 10.1109/THMS.2016.2558539
Abstract: To prepare for the anticipated age of human-robot symbiosis, robots should be able to interact and cooperate with humans effectively by understanding the meaning and intention of human behavior. In this paper, we define human intention as "desired behavior of the human using objects." To infer the defined human intention, a robot should learn the object affordance along with a behavior hierarchy structure. Thus, in this paper, we propose a behavior hierarchy-based affordance network (BHAN) and a behavior hierarchy-based affordance map (BHAM) to represent the object affordance, behavior hierarchy structure, and object hierarchy structure, simultaneously. Autonomous and interactive BHAN/BHAM learning algorithms are also proposed to make a robot develop the BHAN and BHAM by itself, as well as by interacting with a human. Based on the newly developed BHANs and BHAM, a robot could infer the human intention from information observed in context and from human behavior. The effectiveness of the proposed method was demonstrated through experiments on human-robot interaction with building blocks using a simulated differential wheel robot and a real human-sized humanoid robot.
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(2016) : SmartWorkbench: Toward Adaptive and Transparent User Assistance in Industrial Human-Robot Applications In: VDE: Proceedings of ISR 2016: 47st International Symposium on Robotics: Berlin: VDE Verlag GmbH, S. 1-8. Online verfügbar unter https://ieeexplore.ieee.org/document/7559127/authors
Abstract: With the increase in customized production scenarios with small batch sizes research on human-robot working cells gains significance. We present a Smart Workbench that allows for adaptive user assistance in industrial human-robot use cases through (1) monitoring the user condition and (2) providing multi-modal information about the process and the robot intention. We further show results from a first study regarding the usefulness of biofeedback for workload estimation.
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(2016) : Control and Analysis of a Therapeutic Massage Robot: A Milestone of Human-Robot in Physical Contact In: VDE: Proceedings of ISR 2016: 47st International Symposium on Robotics: Berlin: VDE Verlag GmbH. Online verfügbar unter https://ieeexplore.ieee.org/document/7559129/
Abstract: A therapeutic massage robot is developed and used to perform therapeutic massage. Impedance control in Cartesian spaces is properly designed to realize different massage techniques. To evaluate the feelings of relaxation for those subjects being massaged with more quantitative index, electrocardiography (ECG) of subjects is measured before and after massage manipulation. The features of heart rate variability (HRV), including mean HR, SDNN, RMSSD and pNN50, are extracted and analyzed to evaluate the effectiveness of robotic massage. Comparison between robotic massage and massage by therapist is conducted in the experiments. According to the experimental results, mean HR decreases, whereas SDNN, RMSSD, pNN50 increase. HRV increased in both massage groups, showing the relaxation trend after robotic massage. The result gives a scientific clue that therapeutic massage is feasible to realize on a robotic massage robot.
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(2016) : Modularization of skill ontologies for industrial robots In: VDE: Proceedings of ISR 2016: 47st International Symposium on Robotics: Berlin: VDE Verlag GmbH, S. 1-6. Online verfügbar unter https://ieeexplore.ieee.org/document/7559114/
Abstract: With industrial robots ready to take the next step in mastering manufacturing tasks new approaches to reduce the programming effort are needed. This is achieved by introducing skills as robot "know-how" and using them as a higher abstraction level of robot instructions during programming. The skills are reusable items providing motion control and rich declarative descriptions of complex robot capabilities. Storing the skills requires an adequate knowledge representation model that enables reuse and reasoning on skills and simplifies knowledge management. In this paper we report on development of a skill representation model and its implementation in a knowledge base. The developed model is effectively a class hierarchy of the skill concepts implemented in a modularized ontology structure. The resulting model clarifies the intrinsic concepts of a skill and presents a module structure that enables the future development and reuse of skills in general.