Toward Safe Human Robot Interaction: Integration of Compliance Control, an Anthropomorphic Hand and Verbal Communication

2011 ◽  
pp. 17-24 ◽  
Author(s):  
Said Ghani Khan ◽  
Alexander Lenz ◽  
Guido Herrmann ◽  
Tony Pipe ◽  
Chris Melhuish
Keyword(s):  
Verbal Communication ◽  
Human Robot Interaction ◽  
Compliance Control ◽  
Robot Interaction

scholarly journals An Immersive Investment Game to Study Human-Robot Trust

2021 ◽  
Vol 8 ◽  
Author(s):  
Sebastian Zörner ◽  
Emy Arts ◽  
Brenda Vasiljevic ◽  
Ankit Srivastava ◽  
Florian Schmalzl ◽  
...  
Keyword(s):  
Science Fiction ◽  
Positive Impact ◽  
Space Mission ◽  
Verbal Communication ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Investment Game ◽  
Robot Perception ◽  
The Impact ◽  
Human Robot Collaboration

As robots become more advanced and capable, developing trust is an important factor of human-robot interaction and cooperation. However, as multiple environmental and social factors can influence trust, it is important to develop more elaborate scenarios and methods to measure human-robot trust. A widely used measurement of trust in social science is the investment game. In this study, we propose a scaled-up, immersive, science fiction Human-Robot Interaction (HRI) scenario for intrinsic motivation on human-robot collaboration, built upon the investment game and aimed at adapting the investment game for human-robot trust. For this purpose, we utilize two Neuro-Inspired COmpanion (NICO) - robots and a projected scenery. We investigate the applicability of our space mission experiment design to measure trust and the impact of non-verbal communication. We observe a correlation of 0.43 (p=0.02) between self-assessed trust and trust measured from the game, and a positive impact of non-verbal communication on trust (p=0.0008) and robot perception for anthropomorphism (p=0.007) and animacy (p=0.00002). We conclude that our scenario is an appropriate method to measure trust in human-robot interaction and also to study how non-verbal communication influences a human’s trust in robots.

scholarly journals Emotion based human-robot interaction

2018 ◽  
Vol 161 ◽  
pp. 01001 ◽  
Author(s):  
Karsten Berns ◽  
Zuhair Zafar
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Verbal Communication ◽  
Human Robot Interaction ◽  
The Other ◽  
Robot Interaction ◽  
Human Machine Interaction ◽  
Verbal Cues ◽  
Perception System ◽  
Machine Interaction

Human-machine interaction is a major challenge in the development of complex humanoid robots. In addition to verbal communication the use of non-verbal cues such as hand, arm and body gestures or mimics can improve the understanding of the intention of the robot. On the other hand, by perceiving such mechanisms of a human in a typical interaction scenario the humanoid robot can adapt its interaction skills in a better way. In this work, the perception system of two social robots, ROMAN and ROBIN of the RRLAB of the TU Kaiserslautern, is presented in the range of human-robot interaction.

scholarly journals Compliance Control and Human–Robot Interaction: Part II — Experimental Examples

2014 ◽  
Vol 11 (03) ◽  
pp. 1430002 ◽  
Author(s):  
Said G. Khan ◽  
Guido Herrmann ◽  
Alexander Lenz ◽  
Mubarak Al Grafi ◽  
Tony Pipe ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Adaptive Controller ◽  
Human Robot Interaction ◽  
Joint Torque ◽  
Robot Arm ◽  
Compliance Control ◽  
Robot Interaction ◽  
Model Free ◽  
Speech Interface

Compliance control is highly relevant to human safety in human–robot interaction (HRI). This paper presents multi-dimensional compliance control of a humanoid robot arm. A dynamic model-free adaptive controller with an anti-windup compensator is implemented on four degrees of freedom (DOF) of a humanoid robot arm. The paper is aimed to compliment the associated review paper on compliance control. This is a model reference adaptive compliance scheme which employs end-effector forces (measured via joint torque sensors) as a feedback. The robot's body-own torques are separated from external torques via a simple but effective algorithm. In addition, an experiment of physical human robot interaction is conducted employing the above mentioned adaptive compliance control along with a speech interface. The experiment is focused on passing an object (a cup) between a human and a robot. Compliance is providing an immediate layer of safety for this HRI scenario by avoiding pushing, pulling or clamping and minimizing the effect of collisions with the environment.

scholarly journals Trajectory tracking control of 7-DOF redundant robot based on estimation of intention in physical human-robot interaction

2020 ◽  
Vol 103 (3) ◽  
pp. 003685042095364
Author(s):  
Lan Ye ◽  
Genliang Xiong ◽  
Cheng Zeng ◽  
Hua Zhang
Keyword(s):  
External Force ◽  
Trajectory Tracking ◽  
Human Robot Interaction ◽  
System Stability ◽  
Tracking Accuracy ◽  
Compliance Control ◽  
Robot Interaction ◽  
Redundant Robot ◽  
Virtual Force ◽  
Intention Estimation

Collaborative robot has been widespread application prospect, such as homes, manufacturing, and health-care etc. In physical human-robot interaction, the external force appears inevitably in contact with environment or human, especially the interactive tasks such as trajectory tracking requirements and force compliance control. In this article, a method based on interaction intention estimation, which solve the problem of trajectory tracking accuracy and force compliance control in the same direction for the 7-DOF robot, is proposed. The increased virtual force depended on the manipuility performance index and inverse kinematic solution used the kinematic decoupling method based on the redundant angle avoid the singularity of redundant robot. Then, based on interactive intention estimation, a control strategy of variable impedance sliding mode theory in the presence of virtual force and contact force is proposed to achieve the trajectory tracking. We adopted hyperbolic tangent function to alleviate the chattering problem caused by switch function and validated the control system stability by Lyapunov theorem. Finally, Matlab simulations exhibit a 97.8% of high tracking accuracy amid the external force is 43% less than variable impedance parameters. It is therefore proved that the proposed method can achieve asymptotic tracking and the compliant behavior in physical human-robot interaction.

scholarly journals Compliance Control and Human–Robot Interaction: Part 1 — Survey

2014 ◽  
Vol 11 (03) ◽  
pp. 1430001 ◽  
Author(s):  
Said G. Khan ◽  
Guido Herrmann ◽  
Mubarak Al Grafi ◽  
Tony Pipe ◽  
Chris Melhuish
Keyword(s):  
Literature Survey ◽  
Human Robot Interaction ◽  
Compliance Control ◽  
Robot Interaction ◽  
Control Techniques ◽  
Hybrid Approaches ◽  
Active Compliance ◽  
Passive Compliance ◽  
Control Research ◽  
Effective Layer

Compliance control is highly relevant to human safety in human–robot interaction (HRI). This paper presents a review of various compliance control techniques. The paper is aimed to provide a good background knowledge for new researchers and highlight the current hot issues in compliance control research. Active compliance, passive compliance, adaptive and reinforcement learning-based compliance control techniques are discussed. This paper provides a comprehensive literature survey of compliance control keeping in view physical human robot interaction (pHRI) e.g., passing an object, such as a cup, between a human and a robot. Compliance control may eventually provide an immediate and effective layer of safety by avoiding pushing, pulling or clamping in pHRI. Emerging areas such as soft robotics, which exploit the deformability of biomaterial as well as hybrid approaches which combine active and passive compliance are also highlighted.

Incorporating Conversational Strategies in a Social Robot to Interact with People with Dementia

2019 ◽  
Vol 47 (3) ◽  
pp. 140-148 ◽  
Author(s):  
Dagoberto Cruz-Sandoval ◽  
Jesus Favela
Keyword(s):  
Verbal Communication ◽  
Human Robot Interaction ◽  
Single Subject ◽  
Research Approach ◽  
Robot Interaction ◽  
Assistive Robots ◽  
Single Subject Research ◽  
Socially Assistive Robots ◽  
People With Dementia ◽  
Stimulation Of

Background: Socially assistive robots (SARs) have the potential to assist nonpharmacological interventions based on verbal communication to support the care of persons with dementia (PwDs). However, establishing verbal communication with a PwD is challenging. Thus, several authors have proposed strategies to converse with PwDs. While these strategies have proved effective at enhancing communication between PwDs and their caregivers, they have not been used or tested in the domain of human-robot interaction. Objectives: This study aimed to assess the effectiveness of incorporating conversational strategies proposed in the literature for caregivers, during PwD-robot interactions. Methods: We conducted a total of 23 group sessions based on music and conversation therapy, where a SAR interacted with 12 PwDs (mean = 80.25 years) diagnosed with mild to moderate-stage dementia. Using a single subject research approach, we designed an AB study to assess the effectiveness of the conversational strategies in the PwD-robot interaction. Our analysis focuses on the direct communication between the PwDs and the robot, and the perceived enjoyment of PwDs. Results: The number of utterances made from a PwD to the robot increased significantly when the conversational strategies were included in the robot. In addition, PwDs engaged in more sustained conversations. Additionally, PwDs enjoyed conversing with the robot Eva, as much as listening to music. These results indicate that the use of these conversational strategies is ­effective at increasing the interaction between PwD and a SAR. Conclusions: PwDs who participated in the study engaged and enjoyed the interaction with the SAR. The results provide evidence of the importance of incorporating appropriate conversational strategies in SARs that support interventions for the care and social stimulation of PwDs.

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