On Line-Affective State Monitoring Device Design

2007 ◽  
Author(s):  
Anja Lanz ◽  
Elizabeth Croft
Keyword(s):  
Affective State ◽  
Low Frequency ◽  
Human Robot Interaction ◽  
Calibration Data ◽  
Affective States ◽  
Device Design ◽  
State Monitoring ◽  
Robot Interaction ◽  
State Data ◽  
On Line

The monitoring of human affective state is a key part of developing responsive and naturally behaving human-robot interaction systems. However, evaluation and calibration of physiologically monitored affective state data is typically done using offline questionnaires and user reports. This paper investigates the potential to use an on-line device to collect user self reports that can be then used to calibrate physiologically generated affective state data. The collection of on-line calibration data is particularly germane to human-robot interaction where the physiological responses of interest include those related to more high frequency affective state events related to arousal (surprise, fear, alarm) as well as the more low frequency events (contentment, boredom, pleasure). In this context, this paper describes the development of an experimental device, and a preliminary study, to answer the question: Can people report, on-line, two degree of freedom continuous affective states using a hand held device suitable for calibration of physiologically obtained signals? In the following paper, we report on both the device design and user trials. Further work, using the device to calibrate existing models of the user’s affective state during human-robot interaction, is ongoing and will be reported at the time of the conference.

Human Affective State Recognition and Classification During Human-Robot Interaction Scenarios

2009 ◽  
Author(s):  
Zhe Zhang ◽  
Goldie Nejat
Keyword(s):  
Affective State ◽  
Human Robot Interaction ◽  
Affective States ◽  
Robot Interaction ◽  
Research Issues ◽  
Assistive Robots ◽  
Socially Assistive Robots ◽  
Main Challenge ◽  
Fast Pace ◽  
Health Care Applications

A new novel breed of robots known as socially assistive robots is emerging. These robots are capable of providing assistance to individuals through social and cognitive interaction. The development of socially assistive robots for health care applications can provide measurable improvements in patient safety, quality of care, and operational efficiencies by playing an increasingly important role in patient care in the fast pace of crowded clinics, hospitals and nursing/veterans homes. However, there are a number of research issues that need to be addressed in order to design such robots. In this paper, we address one main challenge in the development of intelligent socially assistive robots: The robot’s ability to identify, understand and react to human intent and human affective states during assistive interaction. In particular, we present a unique non-contact and non-restricting sensory-based approach for identification and categorization of human body language in determining the affective state of a person during natural real-time human-robot interaction. This classification allows the robot to effectively determine its taskdriven behavior during assistive interaction. Preliminary experiments show the potential of integrating the proposed gesture recognition and classification technique into intelligent socially assistive robotic systems for autonomous interactions with people.

Impedance control of a cable-driven SEA with mixed H2/H∞ synthesis

2017 ◽  
Vol 37 (3) ◽  
pp. 296-303 ◽  
Author(s):  
Ningbo Yu ◽  
Wulin Zou
Keyword(s):  
Control Strategy ◽  
Control Method ◽  
Impedance Control ◽  
Low Frequency ◽  
Human Robot Interaction ◽  
Control Input ◽  
Robot Interaction ◽  
Content Type ◽  
Series Elastic Actuator ◽  
Series Elastic

Purpose This paper aims to present an impedance control method with mixed H2/H∞ synthesis and relaxed passivity for a cable-driven series elastic actuator to be applied for physical human–robot interaction. Design/methodology/approach To shape the system’s impedance to match a desired dynamic model, the impedance control problem was reformulated into an impedance matching structure. The desired competing performance requirements as well as constraints from the physical system can be characterized with weighting functions for respective signals. Considering the frequency properties of human movements, the passivity constraint for stable human–robot interaction, which is required on the entire frequency spectrum and may bring conservative solutions, has been relaxed in such a way that it only restrains the low frequency band. Thus, impedance control became a mixed H2/H∞ synthesis problem, and a dynamic output feedback controller can be obtained. Findings The proposed impedance control strategy has been tested for various desired impedance with both simulation and experiments on the cable-driven series elastic actuator platform. The actual interaction torque tracked well the desired torque within the desired norm bounds, and the control input was regulated below the motor velocity limit. The closed loop system can guarantee relaxed passivity at low frequency. Both simulation and experimental results have validated the feasibility and efficacy of the proposed method. Originality/value This impedance control strategy with mixed H2/H∞ synthesis and relaxed passivity provides a novel, effective and less conservative method for physical human–robot interaction control.

scholarly journals “Hmm, Did You Hear What I Just Said?”: Development of a Re-Engagement System for Socially Interactive Robots

Robotics ◽  
2019 ◽  
Vol 8 (4) ◽  
pp. 95
Author(s):  
Hoang-Long Cao ◽  
Paola Cecilia Torrico Moron ◽  
Pablo G. Esteban ◽  
Albert De Beir ◽  
Elahe Bagheri ◽  
...  
Keyword(s):  
Human Robot Interaction ◽  
Human Interaction ◽  
User Engagement ◽  
Affective States ◽  
Robot Interaction ◽  
Usability Test ◽  
Socially Interactive Robots ◽  
Technical Operation ◽  
Engagement System ◽  
Attention Level

Maintaining engagement is challenging in human–human interaction. When disengagements happen, people try to adapt their behavior with an expectation that engagement will be regained. In human–robot interaction, although socially interactive robots are engaging, people can easily drop engagement while interacting with robots. This paper proposes a multi-layer re-engagement system that applies different strategies through human-like verbal and non-verbal behaviors to regain user engagement, taking into account the user’s attention level and affective states. We conducted a usability test in a robot storytelling scenario to demonstrate technical operation of the system as well as to investigate how people react when interacting with a robot with re-engagement ability. Our usability test results reveal that the system has the potential to maintain a user’s engagement. Our selected users gave positive comments, through open-ended questions, to the robot with this ability. They also rated the robot with the re-engagement ability higher on several dimensions, i.e., animacy, likability, and perceived intelligence.

scholarly journals Effects of the Level of Interactivity of a Social Robot and the Response of the Augmented Reality Display in Contextual Interactions of People with Dementia

Sensors ◽  
2020 ◽  
Vol 20 (13) ◽  
pp. 3771 ◽  
Author(s):  
Yuan Feng ◽  
Emilia I. Barakova ◽  
Suihuai Yu ◽  
Jun Hu ◽  
G. W. Matthias Rauterberg
Keyword(s):  
Rating Scales ◽  
Well Being ◽  
Social Robot ◽  
Human Robot Interaction ◽  
Affective States ◽  
Robot Interaction ◽  
Term Care ◽  
People With Dementia ◽  
Contextual Interactions ◽  
Dynamic Context

The well-being of people with dementia (PWD) living in long-term care facilities is hindered due to disengagement and social isolation. Animal-like social robots are increasingly used in dementia care as they can provide companionship and engage PWD in meaningful activities. While most previous human–robot interaction (HRI) research studied engagement independent from the context, recent findings indicate that the context of HRI sessions has an impact on user engagement. This study aims to explore the effects of contextual interactions between PWD and a social robot embedded in the augmented responsive environment. Three experimental conditions were compared: reactive context-enhanced robot interaction; dynamic context-enhanced interaction with a static robot; a control condition with only the dynamic context presented. Effectiveness evaluations were performed with 16 participants using four observational rating scales on observed engagement, affective states, and apathy related behaviors. Findings suggested that the higher level of interactivity of a social robot and the interactive contextualized feedback helped capture and maintain users’ attention during engagement; however, it did not significantly improve their positive affective states. Additionally, the presence of either a static or a proactive robot reduced apathy-related behaviors by facilitating purposeful activities, thus, motivating behavioral engagement.

Sign in / Sign up

Export Citation Format

Share Document