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Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication最新文献

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Reading with a simulated central scotoma 有模拟中心暗斑的阅读
N. Osaka
Normal subjects were asked to read a Japanese text with a visual mask patch (simulated central scotoma) which obliterated foveal visual field and moved in asynchrony with eye during reading. When foveal visual field was masked horizontally with 4-8 character spaces reading became difficult. The results of a simulated central scotoma experiment indicate the importance of foveal and parafoveal vision during Japanese text reading.<>
正常受试者被要求在阅读时戴上遮挡中央凹视野的视觉遮罩(模拟中央暗斑),并与眼睛同步移动。当中央凹视野水平遮挡4-8个字符空间时,阅读变得困难。模拟中心暗斑实验的结果表明,中央凹和副中央凹视觉在日语文本阅读中的重要性。
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引用次数: 0
GAME-ROBOT prepared for avoidance motion 游戏-机器人准备回避运动
M. Yoda, Y. Shiota
The objective of this study was to develop a robot which can play game with human. The robot developed is called GAME-ROBOT. GAME-ROBOT is required to make a response which is "amusing" or "interesting" when playing game with human. It means that we cannot neglect such factors as safety and psychological effects on the human being. For GAME-ROBOT, the minimum required functions for playing Othello are shown as follows: 1) a function for detecting piece situations on the game board by image processing; 2) a function to decide the next robot move by the game software; 3) a function for handling a piece through the robot mechanisms; and 4) a function for detecting the human behaviour by external sensors attached to the robot to avoid an unexpected contact of human with the robot.<>
本研究的目的是研制一种能与人玩游戏的机器人。开发的机器人被称为GAME-ROBOT。游戏-机器人在与人类进行游戏时,需要做出“有趣”或“有趣”的反应。这意味着我们不能忽视诸如安全性和对人的心理影响等因素。对于game - robot来说,玩奥赛罗最少需要的功能如下:1)通过图像处理检测棋盘上棋子情况的功能;2)由游戏软件决定机器人下一步移动的功能;3)通过机器人机构处理工件的功能;4)通过附加在机器人上的外部传感器检测人类行为的功能,以避免人类与机器人的意外接触。
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引用次数: 3
An approach to task understanding and playback toward complex environments 一种对复杂环境进行任务理解和回放的方法
H. Ogata, T. Takahashi
Our study is on a task description for recognizing a teaching task and applying the task in a different environment. The task is described by a sequence of task states defined for areas generated by segmenting the configuration space. The teaching motion taught by the operator is transferred into a sequence of task states based on the teaching environment. When executing the task, the system observes the task environment, maps the task states to those of the environment, and generates a new task motion. This paper introduces a general description for robotic assembly task that is applicable to complex environments.<>
我们的研究是关于任务描述,以识别教学任务并在不同的环境中应用该任务。任务通过一系列任务状态来描述,这些状态是为通过分割配置空间生成的区域定义的。操作者所教的教学动作根据教学环境转化为一系列的任务状态。在执行任务时,系统观察任务环境,将任务状态映射到环境状态,生成新的任务运动。本文介绍了适用于复杂环境的机器人装配任务的一般描述。
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引用次数: 0
Virtual conference room: a metaphor for multi-user real-time conferencing systems 虚拟会议室:多用户实时会议系统的隐喻
M. Kobayashi, I. Siio
We have implemented a real-time desktop conferencing system, where many users share applications along with voice data. One of its unique features is its user interface, named the virtual conference room. Each room, shown in a window on the PC monitor, represents a conference status, and each participant is represented as an animation character, called an agent. The conference management, such as floor passing, is executed through direct manipulation on agents. Voices are intermixed so that they reflect the positions and status of agents within the room. The virtual conference room has achieved features suitable for multi-user conferencing systems, such as visualization of the conference status, unified floor control and dynamic subgrouping of participants.<>
我们已经实现了一个实时桌面会议系统,许多用户可以在其中共享应用程序和语音数据。其独特的功能之一是它的用户界面,称为虚拟会议室。每个房间都显示在PC显示器上的一个窗口中,代表一个会议状态,每个参与者都代表一个动画角色,称为代理。会议管理,如传楼等,通过座席直接操作实现。声音是混合的,因此它们反映了房间内代理人的位置和地位。虚拟会议室实现了会议状态可视化、统一楼层控制、与会者动态分组等适合多用户会议系统的功能。
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引用次数: 9
A basic study of dynamic recognition of human facial expressions 人类面部表情动态识别的基础研究
H. Kobayashi, F. Hara, S. Ikeda, H. Yamada
In order to develop an active human interface (AHI) for heart-to-heart communication between machine and human being, we've been investigating the machine recognition of human emotions from facial expressions. This paper aims at clarifying the difference between static and dynamic recognition of facial expressions and investigating the characteristics of their dynamic recognition. In the first place, we obtain the 11 facial images for each of 6 basic expressions, sequentially changing from neutral to one of basic expressions (apex). Then, for comparison, we undertake static visual recognition tests by showing facial images to subjects, and then, by using the sequentially changing images, we also perform dynamic recognition tests. The comparison between static and dynamic recognition results reveals no difference. We further prepare two types of sequential facial images; time-wise sequential images changing from neutral to apex (UP) and from apex to neutral (DOWN). The results of dynamic recognition tests by using UP and DOWN sequential images reveal the fact that the recognition point in changing facial expression differs between the UP and DOWN time-sequential face image data, i.e., there exists a hysteresis in human dynamic recognition of facial expressions.<>
为了开发人机交流的主动人机界面(AHI),我们一直在研究从面部表情中识别人类情感的机器。本文旨在阐明面部表情静态识别与动态识别的区别,并探讨其动态识别的特点。首先,我们获得6个基本表情的11张面部图像,依次从中性到一个基本表情(顶点)。然后,为了进行比较,我们通过向受试者展示面部图像进行静态视觉识别测试,然后,通过使用顺序变化的图像,我们还进行了动态识别测试。静态和动态识别结果的比较没有差异。我们进一步制备了两种类型的序列面部图像;时间顺序图像从中性到顶点(向上)和从顶点到中性(向下)变化。利用上下时序图像进行动态识别实验的结果表明,上下时序人脸图像数据对面部表情变化的识别点是不同的,即人类对面部表情的动态识别存在滞后性。
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引用次数: 26
Development of an eye movement tracking type dead mounted display: system proposal and evaluation experiments 眼动追踪型固定显示器的研制:系统方案与评价实验
K. Iwamoto, Kazuo Tanie, Taro Maeda, Kouji Ichie, Manabu Yasukawa, C. Horiguchi
This paper describes a head mounted display (HMD) system which can present realistic visual images of the environment. There are several types of commercial HMDs for virtual reality systems. One of the problems of their systems is that the screen size is small in order to keep the image resolution high. Therefore, the screen frame and displayed images overlap and impair the sense of reality. In order to improve it, a new type of HMD is proposed. The idea is based on superimposing small, high resolution images on wide, low resolution images. The high resolution images are presented only near the center of human retina, according to the motion of eyeball detected. In this paper, the design of the optical system and image control system is explained. Also, some preliminary evaluation experiments using a prototype system are introduced to demonstrate the effectiveness of the proposed idea.<>
本文介绍了一种能够呈现真实环境视觉图像的头戴式显示器系统。用于虚拟现实系统的商用头显有几种类型。他们的系统的一个问题是,屏幕尺寸小,以保持图像的高分辨率。因此,画面框架和所显示的图像重叠,损害了真实感。为了改进这一问题,提出了一种新型的HMD。这个想法是基于将小的、高分辨率的图像叠加在宽的、低分辨率的图像上。根据检测到的眼球运动,高分辨率图像仅在人眼视网膜中心附近呈现。本文介绍了光学系统和图像控制系统的设计。此外,还介绍了一些使用原型系统的初步评估实验,以证明所提出思想的有效性。
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引用次数: 8
Which do you feel comfortable, interview by a real doctor or by a virtual doctor? A comparative study of responses to inquiries with various psychological intensities, for the development of the Hyper Hospital 你觉得哪一个更舒服,接受真实医生的采访还是接受虚拟医生的采访?不同心理强度的问询反应的比较研究,为Hyper医院的发展提供参考
A. Yoshida, Y. Hagita, K. Yamazaki, T. Yamaguchi
The "Hyper Hospital" is a novel medical care system which will be constructed on an electronic information network. The human interface of the Hyper Hospital based on the modern virtual reality technology is expected to maximally enhance patients' ability of healing illness by computer-supported online visual consultations. In order to investigate the effects and features of online visual consultations in the Hyper Hospital, we conducted an experiment to clarify the influence of electronic interviews on the talking behavior of interviewees in the similar context to real doctor-patient interactions. Four types of distant-confrontation interviews were presented to voluntary subjects and their verbal and nonverbal responses were analyzed from the human ethological viewpoints. In the media-mediated interviews both the latency and the duration of interviewees' utterances in answering questions increased compared with those of live face to face interviews. These results suggest that the interviewee became more verbose or talkative in the mediated interviews, but his psychological tension was generally augmented.<>
“超级医院”是一种建立在电子信息网络上的新型医疗保健系统。hyperhospital基于现代虚拟现实技术的人机界面有望通过计算机支持的在线视觉咨询,最大限度地提高患者的治愈能力。为了探讨在线视觉咨询在超医院的效果和特点,我们进行了一项实验,以澄清电子访谈对受访者谈话行为的影响,在类似于真实的医患互动的背景下。对自愿者进行四种类型的远程对抗访谈,并从人类行为学的角度分析他们的语言和非语言反应。在媒介访谈中,受访者回答问题时的话语潜伏期和持续时间都比面对面访谈中有所增加。这些结果表明,在中介访谈中,受访者变得更加啰嗦或健谈,但其心理紧张程度普遍增强
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引用次数: 10
Motion planning of computer controlled automata 计算机控制自动机的运动规划
R. Ikeura, M. Kimura, H. Inooka
This paper describes motion planning of computer controlled automata (CCA). We consider two steps for the motion planning; (1) Create rough patterns of motion. (2) Modify the patterns iteratively and create a desired motion. A real time planning method for a robot task, which has been developed by authors, is applied as the first step. Using this method, a human operator can generate a trajectory of the CCA while monitoring the actual motion by operating a joystick. For accurately modifying inadequate motion in the second step, a CAD system is developed. Tools for the CAD system are described and, then, the effectiveness is shown in an experimental example.<>
本文研究了计算机控制自动机(CCA)的运动规划。我们考虑两个步骤的运动规划;(1)创建粗略的运动模式。(2)反复修改图案,创造出理想的运动。首先应用作者提出的机器人任务实时规划方法。使用这种方法,人类操作员可以生成CCA的轨迹,同时通过操作操纵杆监测实际运动。为了在第二步中精确地修正运动不足,开发了CAD系统。介绍了该CAD系统的工具,并通过一个实验实例证明了其有效性。
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引用次数: 3
Study on face robot for active human interface-mechanisms of face robot and expression of 6 basic facial expressions 面向主动人机界面的人脸机器人研究——人脸机器人的机理及6种基本面部表情的表达
H. Kobayashi, F. Hara
In order to develop an active human interface (AHI) that realizes heart-to-heart communication between intelligent machine and human being, we have been undertaking the investigation of the method for improving the sensitivity of "KANSEI" communication between intelligent machine and human being. This paper deals with the mechanical aspects of "Face Robot" that produces facial expressions in order to express the artificial emotions as in human being. We select the flexible microactuator (FMA) driven by air pressure for the sake of moving the control points of face robot corresponding to action units (AUs), and then we design and construct a 3 dimensional human-face-like robot. Then we undertake recognition test by showing the face images of 6 basic facial expressions expressed on the face robot, and the results show us that the correct recognition ratio accomplishes 83.3% for 6 basic facial expressions. This high ratio indicates the possibility of the face robot as a "KANSEI" communication media between intelligent machine and human being.<>
为了开发智能机器与人之间实现心与心交流的主动人机界面(AHI),我们一直在研究提高智能机器与人之间“感性”交流灵敏度的方法。本文研究了“面部机器人”的机械方面,它产生面部表情,以表达人类的人工情感。选择气压驱动的柔性微致动器(FMA),使人脸机器人的控制点与动作单元(au)相对应,设计并构造了三维仿人脸机器人。然后我们通过展示人脸机器人所表达的6种基本面部表情的人脸图像进行识别测试,结果表明我们对6种基本面部表情的正确识别率达到83.3%。这一高比率表明,人脸机器人有可能成为智能机器与人类之间的“感性”交流媒介。
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引用次数: 30
A model of emotions and emotion communication 一个情感和情感交流的模型
N. Frijda, D. Moffat
This paper sketches a psychological model of emotions. Emotions are regarded as provisions for signalling the relevance of events for the major goals or concerns of the individual, and for modifying action readiness in a way that corresponds with the appraisal of the events. Different emotions correspond both with different appraisals, and with different modes of change in action readiness. Emotions being interpreted as functional provisions, the model lends itself to incorporation into artificial systems. The modes of emotional action readiness include readiness for actions that influence social interactants, for the benefit of resolving the issues posed by relevant events. This implies that emotional systems recognize the corresponding states of readiness. Emotion communication therefore has its roots in elementary aspects of the emotion process itself.<>
本文概述了情绪的心理模型。情绪被认为是对事件与个人主要目标或关注的相关性发出信号的规定,并以一种与对事件的评估相对应的方式修改行动准备。不同的情绪既与不同的评价相对应,也与行动准备的不同变化模式相对应。情感被解释为功能性的规定,该模型可以将其纳入人工系统。情绪行动准备模式包括对影响社会互动的行动的准备,以有利于解决相关事件所带来的问题。这意味着情绪系统可以识别相应的准备状态。因此,情感交流的根源在于情感过程本身的基本方面。
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引用次数: 14
期刊
Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication
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