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Robot and Human Communication, 1994. RO-MAN '94 Nagoya, Proceedings., 3rd IEEE International Workshop on

Date 18-20 July 1994

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Displaying Results 1 - 25 of 67
  • Proceedings of 1994 3rd IEEE International Workshop on Robot and Human Communication

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  • Cooperation and collaboration between actors and virtual models on stage

    Page(s): 68 - 71
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    The employment of virtual human models interacting with actors is often used in science fiction and fantasy movies with sophisticated, off-line, 3D rendering tools. During the making of the movie the interaction between actors and models is limited. Because, when the action is recorded the actor is always alone and the interacting model is super-imposed on the film using special re-impression techniques. Those techniques are not reliable in a theatrical environment, because people attend physically to the performance, and a real interaction between actors and models is needed. The goal of the authors' research is the realization of a prototype of such a system that can track actor's movements and animate a 3D model of the actor, real-time controlled, that plays inside a virtual world View full abstract»

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  • A study on space interface for teleoperation system

    Page(s): 62 - 67
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    `Teleoperation' (or telerobotics) technology has been attracting much attention due to remarkable development of computer and communication technology and also to the advent of `virtual reality'. However, it is still difficult to apply this technology to the tasks which need sophisticated human skills. And from the viewpoint of human factors there are also many problems to be solved in this research field. In this study we developed an experimental system, where a PUMA-type robot-arm system can be manipulated using a dataglove system. The aim of the experimental system is to assemble/disassemble machines for their maintenance. In this paper, we describe the algorithms of recognizing hand-movement for those tasks and the way to evaluate the performance of robot-arm manipulation system. In the end of this paper, some features of the system which we are now developing are also explained View full abstract»

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  • A number of fundamental emotions and their definitions

    Page(s): 156 - 161
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    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 explained more precisely View full abstract»

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  • A relax/refresh system applying virtual reality

    Page(s): 145 - 150
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    A relax-refresh system applying virtual reality technology has been developed. The system is composed of a massage lounger, a head-mounted-display (HMD), a standard VCR, and an interface circuit which controls the massage chair and generates stereographic images. By sitting on the lounger and wearing the HMD, the user is freed from stress through stereographic images (visual stimulation), massage and vibration (body stimulation), and sound (aural stimulation). In this paper the overview of the developed system prototype is introduced and the result of a body effect experiment is described View full abstract»

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  • Virtual environment construction for driving simulator

    Page(s): 50 - 55
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    This paper describes a new interactive software especially designed for making driving simulator's virtual environment on a current high-performance graphic workstation. A technique is presented to construct a virtual town interactively and to drive the town real time. This system makes it possible to generate virtual environment such as roads, buildings, traffic lights, signs, traffic flow and so on for the virtual driving in the town. The system consists of three functions: road generation, virtual town construction and driving simulation View full abstract»

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  • Experimental study toward mutual adaptive interface

    Page(s): 271 - 276
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    An experimental study towards the mutual adaptive interface has been performed in order to validate the effectiveness of the adaptive mechanism based on the estimated human state. The Mental Work Load (MWL), which is estimated based on the physiological measures, has been taken as a representative index of the subject and used to control the task difficulty in the example task (X-window-based game, called X-jewel). The results of the laboratory experiments showed the positive effect in the performance score, which implies the effectiveness of the adaptive mechanism in the present task domain View full abstract»

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  • A electromagnetic actuator for a robot working with a man

    Page(s): 373 - 377
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    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 in the center of the bobbin is made of a rare earth metal permanent magnet with six straight grooves. The bobbin has six φ1 guides inside. The springs on both ends of the guide cause equal contact of the magnet grooves and guides. Therefore, these guides prevent vibration of the magnet by equal frictional resistance. The magnetic force of the coil and the permanent magnet affect the holding force of the moving magnet which functions as a damper for disturbance compensation. When this force is not supplied to the coils, the moving part is free. The freedom while stopping the current is a very important function for a human intimate robot. As a result, the actuator developed satisfies the required conditions for human intimate robots View full abstract»

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  • Advanced human integrated assembly system

    Page(s): 311 - 316
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    The concept of flexible production has been around for several years now. But why are there so few really flexible production systems around? The problem is that flexibility has usually been seen either as a technical or as a human factors issue. It is neither, but both. This paper discusses some questions related to reducing the time, risk and complexity of flexible production line design and cutting product lead time to market by providing on-the-job information support on the shop floor View full abstract»

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  • A method of correcting provisional boundaries of “bunsetsu”

    Page(s): 289 - 293
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    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 paper proposes a method to correct the provisional boundaries of “bunsetsu” for non-segmented “kana” sentences, by looking up all the word candidates in the dictionary. The improvements of “relevance factor” P and “recall factor” R for provisional boundaries of “bunsetsu” determined and corrected by these methods were evaluated by experiment using the statistical data for 70 issues of a daily Japanese newspaper View full abstract»

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  • Object grasping in virtual environment using dynamic force simulator

    Page(s): 261 - 264
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    Realizes force feedback with the dynamic force simulator (DFS) that the authors proposed previously. DFS simulates object dynamics, contact model and friction characteristics of human hand interacting object in virtual reality. After derivation of kinematic and force relations between hand and object space the authors realize desired feedback forces to human operator. Interaction with DFS allows the calculation and feedback of appropriate forces to the force controlled actuators of the sensor glove the authors have developed View full abstract»

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  • Construction of 3-D emotion space based on parameterized faces

    Page(s): 216 - 221
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    If a machine can treat 'kansei' information like emotion, the relation between human and machine would become more friendly. Our goal is to realize a natural human-machine communication environment by giving a face to the computer terminal or communication system. To realize this environment, it is necessary for the machine to recognize human's emotion condition appearing in the face, and synthesize the reasonable facial image against it. For this purpose, the machine should have emotion model based on parameterized faces which can map his or her emotion condition one by one to this space and can also map inversely in reply View full abstract»

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

    Page(s): 140 - 144
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    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 experiment is conducted using a target selection task under five different sensory feedback conditions (“normal”, auditory, colour, tactile, and combined one). Significant differences were found in the clicking times. The modified mouse was also used in a test of virtual texture View full abstract»

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  • Grasping and moving objects in virtual environments: a preliminary approach towards a realistic behaviour

    Page(s): 44 - 49
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    In this paper the problem of the realistic manipulation of virtual objects is considered, especially from the point of view of the modeling software and control architecture required for attacking such a complex task. Present virtual environment (VE) applications do not properly exploit the power of the modeling component in order to drive the behavior of the virtual entities. This problem is extremely important for grasping and pushing procedures of virtual objects. In the following treatment we have addressed the control of manipulation in VE by focusing on a first model that exploits interpenetration between the virtual hand and the virtual object. The analysis of the computer architecture for the modeling computation and graphical representation of the VE is presented View full abstract»

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  • Proposal of a new tactile display method of speech signals as a nonverbal communication for the profoundly hearing impaired

    Page(s): 95 - 100
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    We have designed a fingertip tactile vocoder which has a 16×4 vibrator matrix for the deaf. In order to investigate whether or not sweeping display method is useful for recognizing Japanese consonants, vibratory patterns corresponding to the speech spectrum of monosyllables were swept from right to left on a fingertip surface using 4 columns of the vibrator matrix at fixed speeds. The best sweeping velocity was estimated to be 10 cm/sec from the experimental results of the absolute threshold, the two-point threshold and the identification rate of monosyllables. The sweeping display method was shown to overcome the problems such as temporal masking for the consonants, especially for the plosives View full abstract»

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  • Modeling and stability analysis of a scaled telemanipulation system

    Page(s): 32 - 37
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    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 used to model the nonlinear slave system with a flexible printed circuit cable View full abstract»

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  • A two-stage method for selective modeling of unknown teleoperation environments

    Page(s): 333 - 338
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    A semi-automatic method for the construction of geometric object models in unknown teleoperation environments is proposed. The problem is divided in two parts: detection and designation of the target and target model generation, In the first, interactive phase of the method the operator observes and designates some feature points on at least two different perspective images of the target environment. In the second phase range measurements are automatically generated across the estimated target 3D-sub-volume. Finally, a surface model is reconstructed from the measurement data View full abstract»

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  • Control of a tripod robot based on reaction forces

    Page(s): 368 - 372
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    High-speed locomotion of walking robots has been studied. The most considered gaits are trot gait and pace gait. In trot gait, the diagonal legs are operated by turning the support legs. In pace gait, the right or left legs are operated by turning the support legs. High-speed walk is a variable gait. However, an efficient method for high-speed walk does not only consist of a variable gait, it also requires a positive use of reaction forces. A control method of a tripod robot for high-speed walk is presented with simulation experiments based on reaction forces View full abstract»

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  • Task orientation of human-machine interaction in distributed systems

    Page(s): 305 - 310
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    This paper focuses on a task-oriented approach to the design of knowledge-based human machine interfaces in distributed systems. The importance of the proposed goal-task-plan driven concept for effective knowledge acquisition, tracking interaction and also for further reusability of interface software systems is particularly discussed View full abstract»

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

    Page(s): 283 - 288
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    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 objects View full abstract»

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  • Teleeducation based on images in a multimedia computing environment

    Page(s): 240 - 245
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    This paper describes a typical view of tele-education based on images in a multimedia computing environment, including the composition concept of electronic media materials and also their multimedia computing in detail. At the same time some concrete application examples are given with data in the actual teleoperations. Finally, additional R&D is referred to for further improvement View full abstract»

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  • A virtual environment display with constraint feeling based on position/force control switching

    Page(s): 255 - 260
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    This paper presents a technique for the design of force-reflecting systems which simulate realistic virtual environments. In tasks that involve interactions with the environment, such as assembling blocks and inserting pegs in holes, there are many sliding motions along intervening edges and faces. To perform these tasks, force sensation is the most important information to recognize the interactions between the objects. The authors previously proposed a system that realizes constraints due to the environment by modeling the interaction forces. However, the modeling of the complex contact forces required a servo loop that took a long time to execute. In this paper, the authors introduce a virtual environment display system which uses a switching position/force control mode. The improved performance of this new system presents a more realistic simulation to the operator. Finally the authors report some experimental results which confirm the validity of the proposed method View full abstract»

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  • A speech dialogue management system for human interface employing visual anthropomorphous agent

    Page(s): 277 - 282
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    A visual anthropomorphous agent with a realistic human face which moves in real-time on CRT responding to a user may become an important approach of advanced human interfaces in the near future. We are constructing such an interface system. This paper describes a speech dialogue function attached to the system. It enables one to develop a friendly guidance system through naturalistic conversation and facial expressions. Speech is an important medium for a human interface. The notable feature of our system is the integration of visual expression and speech dialogue; these two communication modalities can work together in human brain for better cognitive View full abstract»

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

    Page(s): 134 - 139
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    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 system, the deforming operation of virtual surface is shown in an experiment. This paper describes the mechanism and the control method of the manipulator with adaptive damper using network architecture learning through backpropagation technique View full abstract»

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  • Design of a new electrolarynx having a pitch control function

    Page(s): 198 - 203
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    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. Next, we have designed a new electrolarynx having a function of pitch control by expiration pressure. From the view point of naturalness of a spoken sentence and the easiness to control the electrolarynx, the optimal transform function was estimated. The pitch pattern of a sentence obtained by the electrolarynx became clearly similar to that produced from a normal subject after short time training View full abstract»

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