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[1992] Proceedings IEEE International Workshop on Robot and Human Communication

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  • Proceedings. IEEE International Workshop on Robot and Human Communication (Cat. No.92TH0469-7)

    Publication Year: 1992
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    Freely Available from IEEE
  • Cooperation between man and robot: interface and safety

    Publication Year: 1992, Page(s):183 - 187
    Cited by:  Papers (9)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (376 KB)

    The question of robot safety become increasingly important as future robots will be required to share their working area with humans in order to achieve a fruitful cooperation. The robot's contribution could be restricted to the laborious and repetitive work, whereas the human acts as a supervisor and handles exceptions. A new safety system has been developed which allows such a close interaction.... View full abstract»

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  • Control of manipulator/vehicle system for man-robot cooperation based on human intention

    Publication Year: 1992, Page(s):188 - 193
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (380 KB)

    Proposes a control method for the manipulator/vehicle system which has redundant degrees of freedom. In order to control the system, the authors decompose the motion of the end effector in the inertial coordinate system into the vehicle's motion and the manipulator's motion because the motion of the end effector with respect to the inertial coordinate system is realized by both the manipulator's m... View full abstract»

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  • An interfacing method between an artificial hand and human

    Publication Year: 1992, Page(s):194 - 198
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (376 KB)

    First, the flexible grasping motion control for a hand with two fingers is explained. For this control the reference grasping force must be decided in advance of the operation and the property of the reference grasping force is explained. Second, the way to extend the grasping control by including the operator to the control loop is explained. Through consideration of the property of the reference... View full abstract»

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  • Selective attention in motion perception

    Publication Year: 1992, Page(s):300 - 304
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (380 KB)

    The effects of selective attention on the duration of motion aftereffects were examined for investigating the hierarchical structure in a motion processing system. In the psychophysical experiments, the human subjects were adapted to each of the various kinds of motion, such as simple translation, expansion, contraction and rotation, and they carried out a concurrent task of alphanumeric discrimin... View full abstract»

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  • Hand-over of an object between human and robot

    Publication Year: 1992, Page(s):199 - 203
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (316 KB)

    In order to control robot hands intelligently as human do, the authors consider a physiological approach motivated by the study of human hands. They analyze the human's grasping behavior, where two frictional point contacts and prismatic grasp are used. And two methods that can predict when and how fingers will slip upon a grasped object are considered. To emulate the human's capabilities, the pro... View full abstract»

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  • An upper extremity prosthesis using SMA actuator

    Publication Year: 1992, Page(s):52 - 57
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (520 KB)

    Many kinds of powered upper extremity prostheses with multi-degree-of-freedom have been studied and developed. However, in daily life, there are few upper extremity prostheses which the handicapped can use. In the superior limits of weight and size, the prostheses with multi-degree-of-freedom and multi-functions are requested by the handicapped. To achieve this, the authors tried to develop a pros... View full abstract»

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  • A scaled teleoperation

    Publication Year: 1992, Page(s):269 - 274
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (332 KB)

    This paper describes a basic control structure for scaled manipulation. Tools for scaled manipulation are necessary when one manipulates a target of quite different size from one's body. In such case, the tool has to scale up or down not only `size' but also `force' in bilateral way. This paper asserts that `time scale' should also be considered together with size and force in order to build up an... View full abstract»

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  • A target tracking robot based on fuzzy control

    Publication Year: 1992, Page(s):335 - 340
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (356 KB)

    A fuzzy tracking system of an irregular movement object is presented. The system consists of a manipulator with 3-degrees of freedom, an image processor, a personal computer, a wooden board equipment (like pinball) and 2 controllers. An arriving line is set up on the pinball board. A black ball used as the dropping object drops from the top of the board. Before reaching the arriving line, the imag... View full abstract»

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  • A theory of intentional action under uncertainty as applied to physical and communicative actions

    Publication Year: 1992, Page(s):305 - 310
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (596 KB)

    Communication of information is largely an intentional action. In order to understand why and how agents communicate, it is necessary to understand why and how agents perform intentional actions. A theory of intentions is necessary but not sufficient; understanding intentional action also requires theories of motivational pro-attitudes (wants, shoulds, etc.), volition (evaluation, judging, choosin... View full abstract»

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  • A request of the robot: an experiment with the human-robot interactive system HuRIS

    Publication Year: 1992, Page(s):204 - 209
    Cited by:  Papers (5)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (300 KB)

    Discusses about the interface for personal robot systems that are not supported by social authority. The paper consists of two parts. The paper describes HuRIS, a human-robot interactive system for supporting human-robot and human-human communication. HuRIS aims to be acting as an agent of a user. The robot of HuRIS can accept voice commands by its voice recognizer, and can reply via its simple na... View full abstract»

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  • What the human face tells the human mind: some challenges for the robot-human interface

    Publication Year: 1992, Page(s):44 - 51
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (892 KB)

    The human face serves a variety of different communicative functions in social interaction. The face mediates person identification, the perception of emotional expressions and lipreading. Perceiving the direction of social attention, and facial attractiveness, also affect interpersonal behaviour. This paper reviews these different uses made of facial information, and considers their computational... View full abstract»

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  • Operation modes for cooperating with autonomous functions in intelligent teleoperation systems

    Publication Year: 1992, Page(s):275 - 281
    Cited by:  Papers (9)  |  Patents (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (548 KB)

    The authors propose four operation modes for cooperation between manual operation and autonomous functions in intelligent teleoperation systems. They specify the sequence of mode change so that the operator can change these operation modes intuitively and smoothly. They describe the control schemes of master-slave arms in each mode based on the new bilateral control scheme which was previously pro... View full abstract»

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  • A hybrid model and sensor-based control using logical sensor

    Publication Year: 1992, Page(s):341 - 346
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (388 KB)

    This paper describes the progress of a research program on intelligent autonomous systems. The research program concentrates on equipping robots with a capability of handling the exceptions autonomously during the execution of their programs. An intelligent robot control system has been developed, which has the capability of exception handling. An intelligent sensor system with a similar capabilit... View full abstract»

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  • Interface design for man-machine mechanical interactions

    Publication Year: 1992, Page(s):143 - 148
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    A mechanical system, such as a robot system for man-robot cooperation, a master-slave manipulator system, a power-steering system, an extender etc. has interactions among the system, the operator and its environment. How to control the interactions so that the desired interaction is realized, is one of the key issues for the control of such a mechanical system. The design of the controller of mech... View full abstract»

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  • A facial image synthesis system for human-machine interface

    Publication Year: 1992, Page(s):363 - 368
    Cited by:  Papers (5)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (568 KB)

    The authors introduce a `face' interface which is a user-friendly human-machine interface with multi-media and can realize a face-to-face communication environment between the operator and the machine. In this system, a human face appears on the display of the machine and it can talk to the operator with a natural voice. This paper describes the face motion and expression synthesis schemes which c... View full abstract»

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  • A discrimination system using neural network for EMG-controlled prostheses

    Publication Year: 1992, Page(s):63 - 68
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (344 KB)

    The electromyographic (EMG) signal from active muscle is observed on the surface of the living body, and considered for controlling an externally powered upper extremity prosthesis. However, the EMG signal depends on physical condition, the state of mind and so on. So it is difficult that the original EMG signal could be used as a command for controlling an externally powered upper extremity prost... View full abstract»

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  • A prototype of goldfish software robot with real-time response function by a parallel computer

    Publication Year: 1992, Page(s):323 - 328
    Cited by:  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (744 KB)

    This paper describes a parallel computing system and a software algorithm for real-time interaction between a human user and the synthesized moving goldfish images. Two realistic goldfish agents appearing on a display can recognize the palm position and finger motion (finger sign) of the user, then respond to them in real-time. The authors have named this kind of interactive agent a `software robo... View full abstract»

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  • Recognizing user communicative intention in a consultant system with a natural language interface

    Publication Year: 1992, Page(s):311 - 316
    Cited by:  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (520 KB)

    This paper defines communicative intentions instead of illocutionary acts defined in the speech act theory, and proposes a method of recognizing them from user utterances. Although the speech act theory deals with the complex mental states of humans, similar complexity is not necessary for an effective interface between humans and machines, whose relation is modelled as that of master and slave. T... View full abstract»

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  • Feeling the overturn stability of a platform

    Publication Year: 1992, Page(s):241 - 245
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (460 KB)

    Overturn stability is an important safety factor for platforms such as swing cranes, wheeled or legged vehicles and mobile robots. Human operators have no feeling for mass distribution. Inclination is estimated inaccurately, thus resulting in a latent risk of overturn especially for platforms operating in rough terrain. This paper presents an approach to feed the margin of overturn stability back ... View full abstract»

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  • An interactive simulation system of origami based on virtual space manipulation

    Publication Year: 1992, Page(s):210 - 215
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (480 KB)

    This paper describes a visual simulation system of origami (paper folding art) which realizes interactive folding operations of paper such as `bending,' `folding up' and `tucking in' in real-time. In the system, a piece of virtual paper is defined in a three dimensional (3D) virtual space and displayed on a graphic screen. An operator can fold it freely and iteratively, manipulating it as if he is... View full abstract»

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  • Real time hand shape recognition using pipe-line image processor

    Publication Year: 1992, Page(s):111 - 116
    Cited by:  Papers (8)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (524 KB)

    This paper describes a new hand shape recognition method for man-machine interfaces using a pipeline image process. The basic strategy is to use simple but effective real time dynamical image processing to enhance the reliability of hand shape recognition since motion between frames is minimized. The algorithm for a noncontact-type hand shape recognizer has been developed for incorporation into a ... View full abstract»

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  • Teleoperation: the language of the human hand

    Publication Year: 1992, Page(s):32 - 43
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1356 KB)

    Teleoperation is examined from the viewpoint of the human hand and handcontrollers. Alternative handcontroller, including hand grip concepts are briefly reviewed and evaluated. A `universal' Force-Reflecting Handcontroller (FRHC) developed and utilized by the Advanced Teleoperation System project at the Jet Propulsion Laboratory is described in some detail. It generalizes the bilateral (force-refl... View full abstract»

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  • Intelligent tutors in simulated environments that evolve to operator associates in actual systems

    Publication Year: 1992, Page(s):166 - 170
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB)

    Effective operator training is possible via the use of intelligent tutoring systems. Such systems incorporate system knowledge and operational information under normal and degraded conditions. They can be designed to adapt to the skill levels of the operators, and function as operator associates that share responsibility for system operation. The author discusses the characteristics necessary for ... View full abstract»

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  • A digital control method applied to master-slave manipulator systems

    Publication Year: 1992, Page(s):282 - 285
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (232 KB)

    This paper presents experimental results on the digital control of a master-slave manipulator system, which is designed to realize high-fidelity telemanipulation and stability even though the task object parameters are changed. The authors design a double structured digital controller consisting of disturbance observers and a master-slave controller. The validity of the proposed control method is ... View full abstract»

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