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
  • Advanced human integrated assembly system

    Publication Year: 1994, Page(s):311 - 316
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (516 KB)

    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 cut... 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 basic study on dynamic control of facial expressions for Face Robot

    Publication Year: 1994, Page(s):168 - 173
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB)

    In order to develop an active human interface that realizes heart-to-heart communication between intelligent machine and human being, we've been undertaking the investigation of method for improving the sensibility or KANSEI communication between them. We've already reported the “Face Robot” that has a human-like face and can display facial expressions by using the flexible microactuat... View full abstract»

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  • A communication efficiency evaluation of multi-agents with short-term memory

    Publication Year: 1994, Page(s):317 - 322
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (320 KB)

    In a multi-agent system, problems are solved by the agents' cooperation, so communication among agents is very important and indispensable. Especially, the reliability of the communicated information is important. In this paper, a model consisting of many agents is introduced. Although in the model each agent has a limited ability and performs only its own duties, they cooperatively accomplish the... View full abstract»

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  • Recognition of virtual shape using visual and tactual sense under optical illusion

    Publication Year: 1994, Page(s):294 - 298
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (292 KB)

    In addition to visual display, tactual-feedback system will play an important role in interactive computer interface design. Though the human visual system is generally more sensitive than the tactual one, the visual system is more subject to optical illusions. In this study, we have conducted experiments to obtain visual and/or haptical sensitivity of recognition of virtual figure features, such ... View full abstract»

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  • Dynamic display of CG facial expressions for active human interface

    Publication Year: 1994, Page(s):174 - 179
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (412 KB)

    In order to develop an active human interface that realizes heart-to-heart communication between intelligent machine and human being, we've been undertaking the investigation of method for improving the sensibility or “KANSEI” communication by using facial expressions. To express 6 basic facial expressions dynamically by computer graphics (CG) in a similar manner to that in human being... View full abstract»

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  • An autonomous eye robot for tele-watching

    Publication Year: 1994, Page(s):323 - 326
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (320 KB)

    This paper proposes an autonomous eye robot which autonomously acquires appropriate visual informations of an indicated target. By using this robot, the watcher can have appropriate images of the target without adjusting the camera position. The authors show the hardware structure and the basic motion strategy of the robot View full abstract»

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  • Problems of human-city communication-toward a new sign system in a city

    Publication Year: 1994, Page(s):234 - 239
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (504 KB)

    In this paper, a design procedure of the sign system in a city is proposed and discussed. The design method proposed is composed of three steps of analysis: (1) extracting the structure of the city using axes, spots and meshes; (2) clarifying the characteristics of the region by using shapes, materials, colors and so on; and (3) systemizing the information. A case study of Tokyo Nishi-shinjuku are... View full abstract»

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  • Sensor fusion based measurement of human head motion

    Publication Year: 1994, Page(s):124 - 129
    Cited by:  Papers (3)  |  Patents (55)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (288 KB)

    Present virtual reality systems often use unconstrained sensors like Polhemus Tracker. These have advantages of unconstrainedness and wider motion range, but have deficiencies of low sampling rate (~60 Hz) and critical latency (~100 ms). This paper proposes a method, which raises the sampling rate and compensates the latency of Polhemus on rotational motion through the “sensor fusion” ... View full abstract»

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  • Intelligent assistance in operation of active catheter for minimum invasive surgery

    Publication Year: 1994, Page(s):192 - 197
    Cited by:  Papers (8)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (412 KB)

    It is important to assist doctors in operating the (active) catheter in complex and narrow brain blood vessels aiming at the minimum invasive surgery. We propose the concept of the intelligent medical assistance system for the operation of the active catheter. To realize the system we built a prototype of a basic system consisting of a joy-stick and a 3D computer graphics display. The joystick is ... 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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  • 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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  • Using predictive information display for operational environment transmission in a telehandling/machining system

    Publication Year: 1994, Page(s):299 - 304
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (572 KB)

    This paper describes the construction of telehandling/machining system with a predictive information display. In particular, the authors propose methods for predictive force, sound and visual display, and illustrate the methods using a machine tool as an example of a teleoperated machine View full abstract»

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  • Constructing experimental stimuli for evaluation of 3D faces

    Publication Year: 1994, Page(s):180 - 185
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (388 KB)

    We report our preliminary experiments for 3D human faces in order to investigate the importance of their structural and textural information concerned with the view angle. A new sensing method was developed for creating highly-accurate 3D images. By this method, we can arbitrarily synthesize new images to compound a person's structural model and other surface textural information of the person's f... 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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  • 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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  • 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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  • Teleeducation based on images in a multimedia computing environment

    Publication Year: 1994, Page(s):240 - 245
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (316 KB)

    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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  • Virtual environment construction for driving simulator

    Publication Year: 1994, Page(s):50 - 55
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (336 KB)

    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... 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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  • 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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  • Control of a tripod robot based on reaction forces

    Publication Year: 1994, Page(s):368 - 372
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (160 KB)

    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... View full abstract»

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

    Publication Year: 1994, Page(s):216 - 221
    Cited by:  Papers (5)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (380 KB)

    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 synthesi... View full abstract»

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  • A study on space interface for teleoperation system

    Publication Year: 1994, Page(s):62 - 67
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (360 KB)

    `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 resear... View full abstract»

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