Development of a Synchronized Human-Robot-Virtuality Interaction System using Cooperative Robot and Motion Capture Device

Zhou, Huiying; Liu, Yang; Lv, Honghao; Kang, Yi; Yang, Huayong; Yang, Geng

doi:10.1109/aim.2019.8868447

Cited by 2 publications

(1 citation statement)

References 21 publications

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“…A robot arm can assist its user by maintaining more easily controllable state configurations (Javdani et al, 2015;Till et al, 2015;Vu et al, 2017;Aronson et al, 2018;Newman et al, 2018) or by optimizing which degrees of freedom the user can control at any given time (Herlant et al, 2016). This idea can be extended to supernumerary arms that provide users with an additional appendage but are difficult to control (Nakabayashi et al, 2018;Vatsal and Hoffman, 2018), teleoperating robotic arms through electromyography (Noda et al, 2013;Pham et al, 2017) or similar sensing devices (Muratore et al, 2019), or humanoid robots (Lin et al, 2019;Zhou et al, 2019). Additionally, a robot might be able to enter environments that are unavailable to a user, allowing the user to teleoperate the robot in these environments, and effectively extend their reachable environment (Horiguchi et al, 2000).…”

Section: Human Brainmentioning

confidence: 99%

Helping People Through Space and Time: Assistance as a Perspective on Human-Robot Interaction

2022

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As assistive robotics has expanded to many task domains, comparing assistive strategies among the varieties of research becomes increasingly difficult. To begin to unify the disparate domains into a more general theory of assistance, we present a definition of assistance, a survey of existing work, and three key design axes that occur in many domains and benefit from the examination of assistance as a whole. We first define an assistance perspective that focuses on understanding a robot that is in control of its actions but subordinate to a user’s goals. Next, we use this perspective to explore design axes that arise from the problem of assistance more generally and explore how these axes have comparable trade-offs across many domains. We investigate how the assistive robot handles other people in the interaction, how the robot design can operate in a variety of action spaces to enact similar goals, and how assistive robots can vary the timing of their actions relative to the user’s behavior. While these axes are by no means comprehensive, we propose them as useful tools for unifying assistance research across domains and as examples of how taking a broader perspective on assistance enables more cross-domain theorizing about assistance.

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Section: Human Brainmentioning

confidence: 99%

Helping People Through Space and Time: Assistance as a Perspective on Human-Robot Interaction

2022

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Intuitive and Interactive Robotic Avatar System for Tele-Existence: TEAM SNU in the ANA Avatar XPRIZE Finals

Park,

Kim,

Lim

et al. 2024

Int J of Soc Robotics

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Avatar robots enable the teleoperation and telepresence of an operator with a rich and meaningful sense of existence in another location. Robotic avatar systems rely on intuitive interactions to afford operators comfortable and accurate robot control to perform various tasks. The ability of operators to feel immersed within a robot has drawn interest in multiple research fields to explore the future capabilities of such systems. This paper presents a robotic avatar system based on a custom humanoid robot, TOCABI, with a mobile base. Its teleoperation system was developed in response to the ANA Avatar XPRIZE. Combining the life-size humanoid robot and the mobile base allows for improved mobility and dexterous manipulation. The robotic avatar system comprises the robot/base and an operator station that incorporates haptic feedback devices, trackers, a head-mounted display, gloves, and pedals. These devices connect the robot-environment interaction and operator-avatar robot experience through visual, auditory, tactile, haptic, and kinesthetic feedback. Combining the untethered battery-operated and Wi-Fi-enabled robot with these sensory experiences enables intuitive control through the operator’s body movement. The performance of the robotic avatar system was evaluated through user studies and demonstrated in the ANA Avatar XPRIZE Finals, represented by Team SNU, where it completed 8 of the 10 missions, placing the team eighth among the 17 finalists.

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Development of a Synchronized Human-Robot-Virtuality Interaction System using Cooperative Robot and Motion Capture Device

Cited by 2 publications

References 21 publications

Helping People Through Space and Time: Assistance as a Perspective on Human-Robot Interaction

Helping People Through Space and Time: Assistance as a Perspective on Human-Robot Interaction

Intuitive and Interactive Robotic Avatar System for Tele-Existence: TEAM SNU in the ANA Avatar XPRIZE Finals

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