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Proceedings of 1994 3rd IEEE International Workshop on Robot and Human Communication

18-20 July 1994

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  • Proceedings of 1994 3rd IEEE International Workshop on Robot and Human Communication

    Publication Year: 1994
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    Freely Available from IEEE
  • Micro-macro manipulator with haptic interface-2nd report: control by using virtual model

    Publication Year: 1994, Page(s):130 - 133
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (356 KB)

    This paper treats a basic system which realizes a scaled manipulation environment. Tools for scaled manipulation are necessary when one manipulates an extremely large or small size target. In the case of manipulation without scaling, it is possible to let the slave-manipulators have the same configuration as the master-manipulators. But in the case of different scale, it is difficult to design the... View full abstract»

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  • Evolving autonomous software agents

    Publication Year: 1994, Page(s):7 - 11
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (368 KB)

    Our concepts of biology, evolution and complexity are constrained by having observed only a single instance of life, life on Earth. A truly comparative biology is needed to extend these concepts. Because we can not observe life on other planets, we are left with the alternative of creating artificial life forms on Earth. I will discuss the approach of inoculating evolution by natural selection int... View full abstract»

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  • Evaluation for maneuverability of a control stick using electromyogram

    Publication Year: 1994, Page(s):78 - 83
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (324 KB)

    Control sticks are often used in man-machine system. To increase performance of the operation, maneuverability of the stick needs to be evaluated and improved. In this paper, maneuverability indexes for the control stick are proposed considering characteristics of muscles. Using an electromyogram, by which muscle forces can be measured, we examine the effectiveness of the indexes experimentally. A... View full abstract»

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  • Spatial characteristics of visual attention reflected in illusory conjunctions

    Publication Year: 1994, Page(s):151 - 155
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (336 KB)

    In order to examine the shape of the spotlight of attention, dependence of illusory conjunctions on the stimulus configuration is investigated, based on the model that illusory conjunctions occur only if different stimuli exist simultaneously in the spotlight of attention. It was found, by experiment, that when the stimulus items were arranged along a line radiating from the fixation point, illuso... View full abstract»

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  • Development of 3D-input device for virtual surface manipulation

    Publication Year: 1994, Page(s):134 - 139
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    This paper reports the virtual surface manipulation system with force feedback. The developed system is a Cartesian manipulator with stiffness, toughness, and linearity. The proposed manipulator allows the operator spatially manipulates the virtual space with 6DOF, using a force sensor. The control system of the manipulator realizes smooth movement using velocity control. As an application of the ... View full abstract»

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  • Emotion and social factors in communication

    Publication Year: 1994, Page(s):12 - 17
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (380 KB)

    Various new issues would arise if one wishes to create robots worth having as partners in the human society. Since these robots have to be able to communicate with humans more or less in equal standing, they need to understand human emotional expressions to some degree, as well as to produce some of them as if they owned their own emotions. This is because emotional expressions are indispensable i... View full abstract»

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  • Consideration of the `sensory-motor coordination' to an optic and acoustic stimulation

    Publication Year: 1994, Page(s):84 - 89
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (264 KB)

    It is necessary to know how quickly and how accurately humans can react when sensory stimulations are presented around them in order to construct a virtual reality system. We have been studying how quickly and accurately subjects can indicate targets such as a bursting sound and a flashing light presented around them without seeing their arm. The motion induced by the sensory stimulation is called... View full abstract»

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  • Open logic machine. III. Non-deterministic object feature representation via complexity evaluation

    Publication Year: 1994, Page(s):283 - 288
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (520 KB)

    A dynamic feature representation scheme is presented for non-deterministic objects with complicated images. Object symbols are dynamically generated through the interaction with computable scene in which the object feature is modeled in terms of stochastic contraction mappings from the image field. Through a series of simulation studies, the scheme is demonstrated to detect and regenerate fractal ... View full abstract»

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  • Modeling and stability analysis of a scaled telemanipulation system

    Publication Year: 1994, Page(s):32 - 37
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (392 KB)

    When the scaled teleoperation is used, the stability issue becomes important due to the high gains in position or force scaling. We used two experimental methods to identify the stable region of position and force scaling factors of a one axis system having 4000:1 force scaling capability. We used a simple classical teleoperation control law. An indirect closed loop approach with ARX technique was... View full abstract»

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  • Surface display: a force feedback system simulating the surface of an object

    Publication Year: 1994, Page(s):251 - 254
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (228 KB)

    Force feedback is an interface based on the phenomenon of contact. In the implementation of a virtual force feedback environment, the object is defined in a computer and the user is in the real world. Therefore, an interface device is required to transmit touch sensation to the user's finger when he or she touches a virtual object in virtual space. In this paper, methodology to realize force feedb... View full abstract»

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  • A number of fundamental emotions and their definitions

    Publication Year: 1994, Page(s):156 - 161
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (180 KB)

    The research is divided into two parts. The first part is a rating experiment of KABUKI dramas using the SD method and an analysis of the rated data using the principal component analysis. Following these analyses, the author decided the number of fundamental emotions to be seven. In the second part, the author tried to define the seven fundamental emotions. Accordingly, the first part can be expl... View full abstract»

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  • Touch with a mouse-a mouse type interface device with tactile and force display

    Publication Year: 1994, Page(s):140 - 144
    Cited by:  Papers (17)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (412 KB)

    A mouse was modified to add tactile and force display via a solenoid driving a small pin and an electromagnet. In a target selection task experiment, the addition of tactile and force information feedback reduced target selection times, as compared to using a conventional mouse. A more pronounced effect was observed on the clicking time. In order to compare different sensory modalities, an experim... View full abstract»

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  • Design of intelligent human-machine interfaces

    Publication Year: 1994, Page(s):18 - 25
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (620 KB)

    The paper will give an extended overview on the status and developments in the design of intelligent human-machine interfaces. Traditional and more advanced levels of such interfaces are explained, such as the levels of presentation, dialogue, user model, technical systems model, task model, explanation, and justification. The design process as well as several procedures and stages of a systematic... View full abstract»

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  • Design of a new electrolarynx having a pitch control function

    Publication Year: 1994, Page(s):198 - 203
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (324 KB)

    In order to improve a naturalness of an electrolarynx, we have designed a new method that can allow laryngectomees to control voice intonation by using their expiration. First, we investigated the ability of pitch control of 16 laryngectomees. From the results, two of the laryngectomees could control the pitch frequency accurately and the ability of pitch control improved after one week's training... View full abstract»

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  • Semi-autonomous teleoperation system using virtual tool

    Publication Year: 1994, Page(s):327 - 332
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (340 KB)

    Proposes a semi-autonomous control algorithm for a telemanipulator system based on a task-oriented virtual mechanism. The authors design a task-oriented virtual mechanism, or a task-oriented tool dynamics for a given task and separate its coordinate system into the coordinates in autonomous mode and the coordinates in manually-controlled mode. Then, the authors design a controller for the telemani... View full abstract»

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  • Human interface of a robotic travel aid

    Publication Year: 1994, Page(s):90 - 94
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (352 KB)

    Robotic Travel Aid (RTA) is a motorised wheel chair equipped with a locomotion system, a multisensor system including vision, sonar and touch sensor, and navigation system including a digital map. It can guide a visually impaired person in the side-walk avoiding obstacles. It has three human interfaces; a commanding bar, a voice maker and Braille key. By touching the command bar he/she feels the m... View full abstract»

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  • Emulation of emotion using vision with learning

    Publication Year: 1994, Page(s):210 - 215
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (484 KB)

    Concerns the implementation of emotional behavior in an artificial agent. Action Selection Dynamics (ASD), or Behavior Network, provides Subsumption Architecture (SA) with additional flexibility in coordinating behavior activation in a fully distributed manner. The agent can effectively monitor the environment and adapt to changes as they occur rather than the human observer having to manually adj... View full abstract»

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  • A method of correcting provisional boundaries of “bunsetsu”

    Publication Year: 1994, Page(s):289 - 293
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (340 KB)

    In order to solve the problem that the amount of computer memories required for translating the non-segmented “kana” sentences into the “kanji-kana” sentences grows rapidly in proportion to the increasing of the length of the sentence, a new method of finding provisional boundaries of “bunsetsu” using 2nd-order Markov chain probability has been developed. This p... View full abstract»

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  • A electromagnetic actuator for a robot working with a man

    Publication Year: 1994, Page(s):373 - 377
    Cited by:  Papers (2)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (300 KB)

    We deals with one of the elementary functions required of a human intimate robot-the softness. This means compliance control. The robot must have a soft outer body and disturbance compensation. This condition can be satisfied by the unique characteristics of the new electromagnetic actuator we have developed. The actuator consists of 1 bobbin, 2 coils, 6 guides and 1 moving part. The moving part i... View full abstract»

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  • Tuning and optimisation of membership functions of fuzzy logic controllers by genetic algorithms

    Publication Year: 1994, Page(s):356 - 361
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (320 KB)

    A method is developed to tune and optimise the membership functions of fuzzy logic controllers by using genetic algorithms. The set of fuzzy If-Then rules and their membership functions of the truck back-upper problem is considered View full abstract»

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  • Tele-bilateral impedance control using bilinear model

    Publication Year: 1994, Page(s):339 - 344
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (344 KB)

    Many researchers studied bilateral master-slave teleoperator systems especially after Anderson and Spong proposed a novel and simple method to overcome the instability due to transmission delays. In this paper the authors propose a bilateral master-slave manipulator system in which the slave impedance can be adjusted by the operator in a bilateral fashion. The stability of the system with time del... View full abstract»

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  • An integrated computational model of an autonomous, visually guided undersea vehicle

    Publication Year: 1994, Page(s):38 - 43
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (276 KB)

    This paper reports progress made on the development of a computational model of a visually guided autonomous underwater vehicle. The model is based on knowledge obtained from laboratory studies in psychophysics and neurophysiology as well as on new developments in computer science. It is embodied in a computer simulation of a predatory SWIMMER-an underwater creature capable of finding food in its ... View full abstract»

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  • Composite effectiveness and applications of metaphor in the virtual environment

    Publication Year: 1994, Page(s):56 - 61
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (328 KB)

    Metaphor is an important concept in human interface for the realization of harmony between human and computer systems. By use of metaphors, it becomes easier for human to understand and to operate the computer. The application of metaphors to virtual environment systems is suggested in the study. The composite effects of metaphors help the human vision and are also effective in direct manipulation View full abstract»

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  • Real-time mimicking of rhythm patterns using Lorentz plots

    Publication Year: 1994, Page(s):101 - 105
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (284 KB)

    Rhythm and its synchronization are important to natural interaction between humans and computers. For rhythm synchronization, computers must be able to understand human rhythm. Most previous work on teaching computers to understand rhythm has used programmed prior knowledge. Methods with no assumptions required large computer resources. This paper presents a system that understands any rhythm patt... View full abstract»

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