Compliant and compact joint mechanism for a child android robot

Author(s):  
Hisashi Ishihara
Autism ◽  
2019 ◽  
Vol 23 (6) ◽  
pp. 1586-1595 ◽  
Author(s):  
Hirokazu Kumazaki ◽  
Taro Muramatsu ◽  
Yuichiro Yoshikawa ◽  
Blythe A Corbett ◽  
Yoshio Matsumoto ◽  
...  

Job interviews are significant barriers for individuals with autism spectrum disorder because these individuals lack good nonverbal communication skills. We developed a job interview training program using an android robot. The job interview training program using an android robot consists the following three stages: (1) tele-operating an android robot and conversing with others through the android robot, (2) a face-to-face mock job interview with the android robot, and (3) feedback based on the mock job interview and nonverbal communication exercises using the android robot. The participants were randomly assigned to the following two groups: one group received a combined intervention with “interview guidance by teachers and job interview training program using an android robot” ( n = 13), and the other group received an intervention with interview guidance by teachers alone ( n = 16). Before and after the intervention, the participants in both groups underwent a mock job interview with a human interviewer, who provided outcome measurements of nonverbal communication, self-confidence, and salivary cortisol. After the training sessions, the participants who received the combined interview guidance by teachers and the job interview training program using an android robot intervention displayed improved nonverbal communication skills and self-confidence and had significantly lower levels of salivary cortisol than the participants who only received interview guidance by teachers. The job interview training program using an android robot improved various measures of job interview skills in individuals with autism spectrum disorder.


2021 ◽  
pp. 1-24
Author(s):  
Seung Guk Baek ◽  
Hyungpil Moon ◽  
Hyouk Ryeol Choi ◽  
Ja Choon Koo

Abstract Humans come into physical contacts with various machines such as robots in daily life. This leads to the underlying issue of guaranteeing safety during such human-robot interactions. Thus, many devices and methods have been studied for impact damage reduction. A safety joint mechanism (SJM) using four-bar linkages has been highlighted as an impact cutoff device owing to its capabilities of nonlinear load transfer. This paper focuses on a new design and testing for a kinematic element of an SJM based on four-bar linkages to improve the impact cutoff performances. In the present work, a set of variable-length floating link designs is proposed, and the mechanism is implemented by mechanical contact surface profile shaping between the cams and followers. The performance of the cam-follower mechanism is evaluated depending on the variable length of the floating link, by using equivalent stiffness method, which successfully quantifies the performance of the proposed mechanism. Based on this design and analysis, two SJMs having symmetrical arrangements for four numbers of cam-follower mechanisms are fabricated: one SJM has fixed-length floating links and the other has variable-length floating links. The effect of the new kinematic elements on the performance improvement is verified by comparing the absorbed impact rates of the two SJMs by impact hammer-like drop tests. Consequently, it is confirmed that the rapid length change of the floating link is the core element for improving the performance of the safety mechanism.


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