Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367682
F. Hara, S. Mogi
This paper deals with a computational model of artificial emotion for "Active Human Interface" that generates emotion and facial expressions from the emotional evaluation state of external stimuli given to the model using the harmony theory, neural network and genetic algorithm. The harmony theory, a type of Boltzmann machine, is employed in this paper, and for this network system, we show a method of learning six basic emotions (joy, anger, sadness, fear, disgust and surprise). We also formulate schemata connecting emotional evaluation states and facial expressions consisting three facial components (eye, eyebrow and mouth). Simulation results show the successful emotion generation demonstrating the effectiveness of the genetic algorithm learning.<>
{"title":"A computational model of artificial emotion by using harmony theory and genetic algorithm","authors":"F. Hara, S. Mogi","doi":"10.1109/ROMAN.1993.367682","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367682","url":null,"abstract":"This paper deals with a computational model of artificial emotion for \"Active Human Interface\" that generates emotion and facial expressions from the emotional evaluation state of external stimuli given to the model using the harmony theory, neural network and genetic algorithm. The harmony theory, a type of Boltzmann machine, is employed in this paper, and for this network system, we show a method of learning six basic emotions (joy, anger, sadness, fear, disgust and surprise). We also formulate schemata connecting emotional evaluation states and facial expressions consisting three facial components (eye, eyebrow and mouth). Simulation results show the successful emotion generation demonstrating the effectiveness of the genetic algorithm learning.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124126918","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367707
N. Kanamaru, T. Takahashi
This paper describes a new three-dimensional pointing device that uses tactile sensors. This device senses the pattern of the user's fingers touching the device surface and determines the number, positions, and pressures of the contact points. The motion commands for manipulating the object are interpreted from this information. The results of experimentally evaluating the performance of this device are reported, and some 3D pointing methods using this device are suggested.<>
{"title":"A new interface for 3D manipulation","authors":"N. Kanamaru, T. Takahashi","doi":"10.1109/ROMAN.1993.367707","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367707","url":null,"abstract":"This paper describes a new three-dimensional pointing device that uses tactile sensors. This device senses the pattern of the user's fingers touching the device surface and determines the number, positions, and pressures of the contact points. The motion commands for manipulating the object are interpreted from this information. The results of experimentally evaluating the performance of this device are reported, and some 3D pointing methods using this device are suggested.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120961812","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367674
O. Kubo, M. Takahashi, H. Yoshikawa
The validity of the human state estimation method based on the physiological measures as the source information for the mutual adaptive interface (MADI) proposed in the preceding paper has been shown through the laboratory experiments. The neural network has been adopted as the real-time estimation method for the short term state. The statistical properties of the physiological measures are shown to reflect the background state, such as the level of mental work load.<>
{"title":"Mutual adaptive interface: laboratory experiments for human state estimation","authors":"O. Kubo, M. Takahashi, H. Yoshikawa","doi":"10.1109/ROMAN.1993.367674","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367674","url":null,"abstract":"The validity of the human state estimation method based on the physiological measures as the source information for the mutual adaptive interface (MADI) proposed in the preceding paper has been shown through the laboratory experiments. The neural network has been adopted as the real-time estimation method for the short term state. The statistical properties of the physiological measures are shown to reflect the background state, such as the level of mental work load.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116795332","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367718
S. Ino, S. Shimizu, T. Odagawa, M. Sato, M. Takahashi, T. Izumi, T. Ifukube
Tactile information processing was studied based on psychophysical experiments in order to design a tactile display for tele-existence robots or virtual reality devices. First, the identification characteristics of the tactile sensing concerned with the quality of materials were investigated when human fingertips touched the surface of various materials in a vertical direction. In addition to obtaining the tactile characteristics, the temperature change of the skin surface of a fingertip was measured when the fingertip contacted the surface of materials. From these experimental results, the temperature difference from the normal skin temperature was found to be very important to recognize what kind of materials contacted the skin surface. Next, the tactile display for presenting the quality of materials was designed on the basis of the above experimental results. The tactile display system was composed of a Peltier module and a PID controller.<>
{"title":"A tactile display for presenting quality of materials by changing the temperature of skin surface","authors":"S. Ino, S. Shimizu, T. Odagawa, M. Sato, M. Takahashi, T. Izumi, T. Ifukube","doi":"10.1109/ROMAN.1993.367718","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367718","url":null,"abstract":"Tactile information processing was studied based on psychophysical experiments in order to design a tactile display for tele-existence robots or virtual reality devices. First, the identification characteristics of the tactile sensing concerned with the quality of materials were investigated when human fingertips touched the surface of various materials in a vertical direction. In addition to obtaining the tactile characteristics, the temperature change of the skin surface of a fingertip was measured when the fingertip contacted the surface of materials. From these experimental results, the temperature difference from the normal skin temperature was found to be very important to recognize what kind of materials contacted the skin surface. Next, the tactile display for presenting the quality of materials was designed on the basis of the above experimental results. The tactile display system was composed of a Peltier module and a PID controller.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124545945","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367684
K. Yoshida, T. Yabuta
A prototype bilateral master-slave hand system has been developed. Both the master and slave hands consist of three robot fingers using 3 degree-of-freedom (DOF) small manipulators each equipped with 3-axis force sensor to enable force feedback to the operator. In this paper, the master-slave hand system is described, and the system performance is evaluated based on the concept of the two-terminal pair network. Simulation results are reported which show that this master-slave hand system, using a bilateral control algorithm which was proposed previously, can realize almost ideal response in the low-frequency domain.<>
{"title":"Design and evaluation of a bilateral master-slave hand system","authors":"K. Yoshida, T. Yabuta","doi":"10.1109/ROMAN.1993.367684","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367684","url":null,"abstract":"A prototype bilateral master-slave hand system has been developed. Both the master and slave hands consist of three robot fingers using 3 degree-of-freedom (DOF) small manipulators each equipped with 3-axis force sensor to enable force feedback to the operator. In this paper, the master-slave hand system is described, and the system performance is evaluated based on the concept of the two-terminal pair network. Simulation results are reported which show that this master-slave hand system, using a bilateral control algorithm which was proposed previously, can realize almost ideal response in the low-frequency domain.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132258749","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367728
H. Kobayashi, H. Nakamura, J. Tatsuno, S. Iijima
In recent years, robotic manipulator system have been developed in various fields for various purposes. Today there are many systems in practical use. However most of them are considered on the assumption that the size of slave manipulator is nearly equal to the size of master manipulator. We have developed a bilateral controlled master-slave manipulator system to manipulate targets of quite different size from our body. We can not manipulate such size of targets by conventional ways. Thus, we try to make the target scale equal to our scale virtually. In this paper we describe the basic control structure, and report the primary experimental results.<>
{"title":"Micro-macro tele-manipulation system","authors":"H. Kobayashi, H. Nakamura, J. Tatsuno, S. Iijima","doi":"10.1109/ROMAN.1993.367728","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367728","url":null,"abstract":"In recent years, robotic manipulator system have been developed in various fields for various purposes. Today there are many systems in practical use. However most of them are considered on the assumption that the size of slave manipulator is nearly equal to the size of master manipulator. We have developed a bilateral controlled master-slave manipulator system to manipulate targets of quite different size from our body. We can not manipulate such size of targets by conventional ways. Thus, we try to make the target scale equal to our scale virtually. In this paper we describe the basic control structure, and report the primary experimental results.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130757468","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367691
A. Yoshida, J. Noritake, T. Hayasaka, K. Suzuki, Y. Suda, N. Yakushiji, Kiyoyuki Yamazaki, T. Yamaguchi
We proposed in the present study a concept of an online hospital named "Hyper Hospital." The Hyper Hospital is a medical care system which is distributedly constructed on a computer-based electronic network with assistance of an alternate reality system, such as the virtual reality system. First, we reviewed problems of old conventional type of hospital system from viewpoint of human interface, and secondly presented a general idea of the construction of the Hyper Hospital. Lastly, we discussed its applicability and use as a new paradigm of the next generation of medical care.<>
{"title":"On the concept of Hyper Hospital, a medical care system distributedly constructed on the electronic information network","authors":"A. Yoshida, J. Noritake, T. Hayasaka, K. Suzuki, Y. Suda, N. Yakushiji, Kiyoyuki Yamazaki, T. Yamaguchi","doi":"10.1109/ROMAN.1993.367691","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367691","url":null,"abstract":"We proposed in the present study a concept of an online hospital named \"Hyper Hospital.\" The Hyper Hospital is a medical care system which is distributedly constructed on a computer-based electronic network with assistance of an alternate reality system, such as the virtual reality system. First, we reviewed problems of old conventional type of hospital system from viewpoint of human interface, and secondly presented a general idea of the construction of the Hyper Hospital. Lastly, we discussed its applicability and use as a new paradigm of the next generation of medical care.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114301826","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367732
Y. Nakauchi, Y. Mori, S. Nyudo
In order to provide a better human-robot interface, the system should be active so that it can utilize implicit information from both user and surrounding environment. To realize active interface, we propose active vision system that utilizes neural network for the recognition process. We also have evaluated our active vision system by simulation.<>
{"title":"Active vision system for human-robot interface","authors":"Y. Nakauchi, Y. Mori, S. Nyudo","doi":"10.1109/ROMAN.1993.367732","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367732","url":null,"abstract":"In order to provide a better human-robot interface, the system should be active so that it can utilize implicit information from both user and surrounding environment. To realize active interface, we propose active vision system that utilizes neural network for the recognition process. We also have evaluated our active vision system by simulation.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121309238","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367730
S.K. Singh, M. Bostrom, D. Popa, C. Wiley
Lumbar puncture for purposes of administering spinal or epidural anesthesia is a complex clinical skill which requires the clinician to precisely correlate a detailed mental map of hidden three-dimensional anatomy with tactile feedback from the spinal needle as it is inserted. To be successful the trainee must create a mental map of the anatomy by integrating atlas illustrations with bony and/or surface landmarks. The placement of the needle must then be guided by the continuous correlation of this mental map and the tactile feedback, or "feel," of the needle as it is being inserted. The simulator consists of a combination of specialized hardware and custom software running on a high-resolution graphics workstation. The major piece of specialized hardware is the force-feedback needle simulator. This is a specialized joystick which resembles a long, thin pen or wand swivel-mounted to a vertical face of a box roughly 12 inches on a side. Position sensors track the insertion angle or trajectory of the device while a programmable motor or actuator will provide variable resistance to insertion depending upon which simulated anatomic structures the virtual needle is penetrating. If an incorrect trajectory is used and bone is contacted the resulting sudden sharp increase in resistance would be conveyed.<>
{"title":"Design of an interactive lumbar puncture simulator with tactile feedback","authors":"S.K. Singh, M. Bostrom, D. Popa, C. Wiley","doi":"10.1109/ROMAN.1993.367730","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367730","url":null,"abstract":"Lumbar puncture for purposes of administering spinal or epidural anesthesia is a complex clinical skill which requires the clinician to precisely correlate a detailed mental map of hidden three-dimensional anatomy with tactile feedback from the spinal needle as it is inserted. To be successful the trainee must create a mental map of the anatomy by integrating atlas illustrations with bony and/or surface landmarks. The placement of the needle must then be guided by the continuous correlation of this mental map and the tactile feedback, or \"feel,\" of the needle as it is being inserted. The simulator consists of a combination of specialized hardware and custom software running on a high-resolution graphics workstation. The major piece of specialized hardware is the force-feedback needle simulator. This is a specialized joystick which resembles a long, thin pen or wand swivel-mounted to a vertical face of a box roughly 12 inches on a side. Position sensors track the insertion angle or trajectory of the device while a programmable motor or actuator will provide variable resistance to insertion depending upon which simulated anatomic structures the virtual needle is penetrating. If an incorrect trajectory is used and bone is contacted the resulting sudden sharp increase in resistance would be conveyed.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115201651","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-11-03DOI: 10.1109/ROMAN.1993.367717
H. Kosaka, K. Serizawa, I. Watanabe
People sometime can recognize the quality of a computer keyboard by both the feel and/or sound of the key switches when they are pressed. For a good quality keyboard the switches when pressed, should have a feeling that is neither too heavy nor too light, and should also convey a clear confirmation of the switching being made. We focus on the man-machine interface of the keyboard and investigate the human feelings of touch and push, from the engineering point of view, in order to design switches that are comfortable to operate.<>
{"title":"A universal keyboard switch for a feeling test","authors":"H. Kosaka, K. Serizawa, I. Watanabe","doi":"10.1109/ROMAN.1993.367717","DOIUrl":"https://doi.org/10.1109/ROMAN.1993.367717","url":null,"abstract":"People sometime can recognize the quality of a computer keyboard by both the feel and/or sound of the key switches when they are pressed. For a good quality keyboard the switches when pressed, should have a feeling that is neither too heavy nor too light, and should also convey a clear confirmation of the switching being made. We focus on the man-machine interface of the keyboard and investigate the human feelings of touch and push, from the engineering point of view, in order to design switches that are comfortable to operate.<<ETX>>","PeriodicalId":270591,"journal":{"name":"Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128115930","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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