Operating a robot by nonverbal voice based on ranges of formants

This research proposes a method of operating a robot by nonverbal voice. The voice is expressed with a range of formants which shows characteristics of vocal tract such as the form of mouth and the position of tongue. This method enables people to operate two and more degrees of freedom of a robot at the same time. We found that the method is an effective way for simple tasks through experiments of grasping and reaching. This method can realize operating a robot as if it was an operator's own limb with nonverbal voice.