Never too old for teleoperation: Helping elderly people control a conversational service robot

Glas, Dylan F.; Wada, Kanae; Shiomi, Masahiro; Kanda, Takayuki; Ishiguro, Hiroshi; Hagita, Norihiro

doi:10.1109/roman.2013.6628395

Cited by 8 publications

(4 citation statements)

References 24 publications

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“…These include time domain passivity control to make teleoperation system work in a wide variety of environments [9], adaptive control to estimate operator or environment models and teleoperation system uncertainties [10]- [12], sliding mode control for robustness against disturbances during task execution [13], [14], model-mediated control to reconstruct the slave environment at master site [15]- [17], gain scheduling to cope with uncertainties [18], model predictive control for constrained teleoperation with poorly known time delays [19], [20], H∞ control for multi-objective optimization [21], [22], frequency domain techniques to analyze stability of teleoperation system [23], [24], disturbance observes to lessen measurements [25], [26]. The developments in the control schemes have contributed to the enormous increase in the applications of teleoperation systems being developed for nuclear plants [27]- [29], underwater exploration [30]- [32], space missions [33]- [36], surgical procedures [37]- [41] and other industrial problems [42]- [46].…”

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confidence: 99%

Fuzzy Model Based Bilateral Control Design of Nonlinear Tele-Operation System Using Method of State Convergence

et al. 2016

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This paper presents the design of a state convergence (SC) based bilateral controller for a nonlinear teleoperation system which has been approximated by a Takagi-Sugeno (TS) fuzzy model. The selection of SC is made due to the advantages offered by this scheme both in the modeling and control design stages. The modeling stage considers master/slave systems which can be represented by n th order differential equations while the control design stage offers an easy way to determine the control gains required for assigning desired closed loop dynamics to teleoperation system. After the master/slave systems are represented by TS fuzzy models, a stabilizing fuzzy law is adopted which allows deploying the SC scheme with all its benefits to design the fuzzy bilateral controller. In this way, not only the simplicity of the design scheme is ensured but also the existing SC scheme is able to control a nonlinear teleoperation system based on its TS fuzzy model description. As an additional advantage, the SC based existing linear bilateral controller can be easily derived from the SC based proposed fuzzy bilateral controller. Various cases of master/slave systems originally reported in terms of their linear model representation and communication in the absence/presence of time delay are all discussed in the corresponding fuzzy framework. MATLAB simulations considering a one-degree-of-freedom (DoF) teleoperation system are performed to validate the proposed methodology for controlling a nonlinear teleoperation system.

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confidence: 99%

Fuzzy Model Based Bilateral Control Design of Nonlinear Tele-Operation System Using Method of State Convergence

et al. 2016

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“…First, the programmer or interaction designer may not be consciously aware of their own actions -we often control our body positioning, gaze, and reactive conversational utterances without thinking, and it is difficult to explicate the tacit knowledge of these actions or the cues that trigger them [2]. Second, social interactions depend greatly on the partner's behavior, and it can be difficult to anticipate the details of the possible situations to which a robot will need to react.…”

Section: A Programming Social Behaviorsmentioning

confidence: 99%

How to train your robot - teaching service robots to reproduce human social behavior

Liu¹,

Glas²,

Kanda³

et al. 2014

The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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Developing interactive behaviors for social robots presents a number of challenges. It is difficult to interpret the meaning of the details of people's behavior, particularly non-verbal behavior like body positioning, but yet a social robot needs to be contingent to such subtle behaviors. It needs to generate utterances and non-verbal behavior with good timing and coordination. The rules for such behavior are often based on implicit knowledge and thus difficult for a designer to describe or program explicitly. We propose to teach such behaviors to a robot with a learning-by-demonstration approach, using recorded human-human interaction data to identify both the behaviors the robot should perform and the social cues it should respond to. In this study, we present a fully unsupervised approach that uses abstraction and clustering to identify behavior elements and joint interaction states, which are used in a variable-length Markov model predictor to generate socially-appropriate behavior commands for a robot. The proposed technique provides encouraging results despite high amounts of sensor noise, especially in speech recognition. We demonstrate our system with a robot in a shopping scenario.

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“…Since service providers can respond to customers from their homes or offices as long as there is an Internet connection, this approach is expected to be used as a method of remote work. Avatar robots have been researched for a variety of services, including guidance ( Koizumi et al, 2006 ; Kanda et al, 2010 ; Heikkilä et al, 2019 ; Baba et al, 2020 ), navigation ( Glas et al, 2012 ) in shopping malls, tourist information ( Glas et al, 2013 ), product sales ( Song et al, 2021 ), café clerks ( Takeuchi et al, 2020 ), and expert maintenance ( Kritzler et al, 2016 ).…”

Section: Introductionmentioning

confidence: 99%

Local vs. Avatar Robot: Performance and Perceived Workload of Service Encounters in Public Space

et al. 2021

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In recent years, the demand for remote services has increased with concerns regarding the spread of infectious diseases and employees’ quality of life. Many attempts have been made to enable store staff to provide various services remotely via avatars displayed to on-site customers. However, the workload required on the part of service staff by the emerging new work style of operating avatar robots remains a concern. No study has compared the performance and perceived workload of the same staff working locally versus remotely via an avatar. In this study, we conducted an experiment to identify differences between the performance of in-person services and remote work through an avatar robot in an actual public space. The results showed that there were significant differences in the partial performance between working via an avatar and working locally, and we could not find significant difference in the overall performance. On the other hand, the perceived workload was significantly lower when the avatar robot was used. We also found that customers reacted differently to the robots and to the in-person participants. In addition, the workload perceived by operators in the robotic task was correlated with their personality and experience. To the best of our knowledge, this study is the first investigation of both performance and workload in remote customer service through robotic avatars, and it has important implications for the implementation of avatar robots in service settings.

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Never too old for teleoperation: Helping elderly people control a conversational service robot

Cited by 8 publications

References 24 publications

Fuzzy Model Based Bilateral Control Design of Nonlinear Tele-Operation System Using Method of State Convergence

Fuzzy Model Based Bilateral Control Design of Nonlinear Tele-Operation System Using Method of State Convergence

How to train your robot - teaching service robots to reproduce human social behavior

Local vs. Avatar Robot: Performance and Perceived Workload of Service Encounters in Public Space

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