Abstract: In care for older adults, behavioral and psychological symptoms of dementia (BPSD) like agitation and aggression are distressing for patients and their caretakers, often resulting in premature institutionalization with increased costs of care. To improve mood and mitigate symptoms, as a non-pharmaceutical approach, emotion-oriented therapy like reminiscence work is adopted in face-to-face communication. Telecommunication support is expected to be provided by robotic media as a bridge for digital divide for those with dementia and facilitate social interaction both verbally and nonverbally. The purpose of this case study is to explore the conditions in which robotic media can effectively attract attention from older adults with dementia and promote their well-being. As a pilot study, we introduced the pillow-phone Hugvie®, a huggable humanly shaped communication medium to five residents with dementia at a care facility, to investigate how the following conditions work for the elderly when they use the medium; 1) no sound, 2) radio, non-interactive, 3) daily conversation, and 4) reminiscence work. As a result, under condition 4, reminiscence work, the five participants kept concentration in interacting with the medium for a longer duration than other conditions. In condition 4, they also showed larger amount of utterances than under other conditions. These results indicate that providing topics related to personal histories through robotic media could affect communication positively and should, therefore, be further investigated. In addition, the issue of ethical implications by using persuasive technology that affects emotions and behaviors of older adults is also discussed.
Abstract: One of the main aims of current social robotic research
is to improve the robots’ abilities to interact with humans. In order
to achieve an interaction similar to that among humans, robots
should be able to communicate in an intuitive and natural way
and appropriately interpret human affects during social interactions.
Similarly to how humans are able to recognize emotions in other
humans, machines are capable of extracting information from the
various ways humans convey emotions—including facial expression,
speech, gesture or text—and using this information for improved
human computer interaction. This can be described as Affective
Computing, an interdisciplinary field that expands into otherwise
unrelated fields like psychology and cognitive science and involves
the research and development of systems that can recognize and
interpret human affects. To leverage these emotional capabilities
by embedding them in humanoid robots is the foundation of
the concept Affective Robots, which has the objective of making
robots capable of sensing the user’s current mood and personality
traits and adapt their behavior in the most appropriate manner
based on that. In this paper, the emotion recognition capabilities
of the humanoid robot Pepper are experimentally explored, based
on the facial expressions for the so-called basic emotions, as
well as how it performs in contrast to other state-of-the-art
approaches with both expression databases compiled in academic
environments and real subjects showing posed expressions as well
as spontaneous emotional reactions. The experiments’ results show
that the detection accuracy amongst the evaluated approaches differs
substantially. The introduced experiments offer a general structure
and approach for conducting such experimental evaluations. The
paper further suggests that the most meaningful results are obtained
by conducting experiments with real subjects expressing the emotions
as spontaneous reactions.
Abstract: With this contribution, we want to show a successful example of the application of the Design Thinking methodology, in the European project 'Technology transfer of Remotely Piloted Aircraft Systems (RPAS) for the creative industry'. The use of this methodology has allowed us to design and build a drone, based on the real needs of prospective users. It has demonstrated that this is a powerful tool for generating innovative ideas in the field of robotics, by focusing its effectiveness on understanding and solving real user needs. In this way, with the support of an interdisciplinary team, comprised of creatives, engineers and economists, together with the collaboration of prospective users from three European countries, a non-linear work dynamic has been created. This teamwork has generated a sense of appreciation towards the creative industries, through continuously adaptive, inventive, and playful collaboration and communication, which has facilitated the development of prototypes. These have been designed to enable filming and photography in interior spaces, within 13 sectors of European creative industries: Advertising, Architecture, Fashion, Film, Antiques and Museums, Music, Photography, Televison, Performing Arts, Publishing, Arts and Crafts, Design and Software. Furthermore, it has married the real needs of the creative industries, with what is technologically and commercially viable. As a result, a product of great value has been obtained, which offers new business opportunities for small companies across this sector.
Abstract: From the last decades, there is a significant technological advancement in the field of robotics, and a number of modular self-reconfigurable robots were introduced that can help in space exploration, bucket to stuff, search, and rescue operation during earthquake, etc. As there are numbers of self-reconfigurable robots, choosing the optimum one is always a concern for robot user since there is an increase in available features, facilities, complexity, etc. The objective of this research work is to present a multiple attribute decision making based methodology for coding, evaluation, comparison ranking and selection of modular self-reconfigurable robots using a technique for order preferences by similarity to ideal solution approach. However, 86 attributes that affect the structure and performance are identified. A database for modular self-reconfigurable robot on the basis of different pertinent attribute is generated. This database is very useful for the user, for selecting a robot that suits their operational needs. Two visual methods namely linear graph and spider chart are proposed for ranking of modular self-reconfigurable robots. Using five robots (Atron, Smores, Polybot, M-Tran 3, Superbot), an example is illustrated, and raking of the robots is successfully done, which shows that Smores is the best robot for the operational need illustrated, and this methodology is found to be very effective and simple to use.
Abstract: Eating a meal is among the Activities of Daily Living,
but it takes a lot of time and effort for people with physical
or functional limitations. Dedicated technologies are cumbersome
and not portable, while general-purpose assistive robots such as
wheelchair-based manipulators are too hard to control for elaborate
continuous motion like eating. Eating with such devices has not
previously been automated, since there existed no description of
a feeding motion for uncontrolled environments. In this paper, we
introduce a feeding mode for assistive manipulators, including a
mathematical description of trajectories for motions that are difficult
to perform manually such as gathering and scooping food at a
defined/desired pace. We implement these trajectories in a sequence
of movements for a semi-automated feeding mode which can be
controlled with a very simple 3-button interface, allowing the user
to have control over the feeding pace. Finally, we demonstrate the
feeding mode with a JACO robotic arm and compare the eating
speed, measured in bites per minute of three eating methods: a
healthy person eating unaided, a person with upper limb limitations
or disability using JACO with manual control, and a person with
limitations using JACO with the feeding mode. We found that the
feeding mode allows eating about 5 bites per minute, which should
be sufficient to eat a meal under 30min.
Abstract: The majority of today’s mobile robots are very dependent on battery power. Mobile robots can operate untethered for a number of hours but eventually they will need to recharge their batteries in-order to continue to function. While computer processing and sensors have become cheaper and more powerful each year, battery development has progress very little. They are slow to re-charge, inefficient and lagging behind in the general progression of robotic development we see today. However, batteries are relatively cheap and when fully charged, can supply high power output necessary for operating heavy mobile robots. As there are no cheap alternatives to batteries, we need to find efficient ways to manage the power that batteries provide during their operational lifetime. This paper proposes the use of autonomic principles of self-adaption to address the behavioral changes a battery experiences as it gets older. In life, as we get older, we cannot perform tasks in the same way as we did in our youth; these tasks generally take longer to perform and require more of our energy to complete. Batteries also suffer from a form of degradation. As a battery gets older, it loses the ability to retain the same charge capacity it would have when brand new. This paper investigates how we can adapt the current state of a battery charge and cycle count, to the requirements of a mobile robot to perform its tasks.
Abstract: Robotic arm manipulators are widely used to accomplish many kinds of tasks. SCORBOT-ER 4u is a 5-degree of freedom (DOF) vertical articulated educational robotic arm, and all joints are revolute. It is specifically designed to perform pick and place task with its gripper. The pick and place task consists of consideration of the end effector coordinate of the robotic arm and the desired position coordinate in its workspace. This paper describes about forward kinematics modeling and analysis of the robotic end effector motion through joint space. The kinematics problems are defined by the transformation from the Cartesian space to the joint space. Denavit-Hartenberg (D-H) model is used in order to model the robotic links and joints with 4x4 homogeneous matrix. The forward kinematics model is also developed and simulated in MATLAB. The mathematical model is validated by using robotic toolbox in MATLAB. By using this method, it may be applicable to get the end effector coordinate of this robotic arm and other similar types to this arm. The software development of SCORBOT-ER 4u is also described here. PC-and EtherCAT based control technology from BECKHOFF is used to control the arm to express the pick and place task.
Abstract: This paper deals with the design and the
implementation of an automatic task planner for a robot, irrespective
of whether it is a stationary robot or a mobile robot. The aim of the
task planner nothing but, they are planning systems which are used to
plan a particular task and do the robotic manipulation. This planning
system is embedded into the system software in the computer, which
is interfaced to the computer. When the instructions are given using
the computer, this is transformed into real time application using the
robot. All the AI based algorithms are written and saved in the
control software, which acts as the intelligent task planning system.
Abstract: Underground tunnel face bolting and pipe umbrella
reinforcement are one of the most challenging tasks in construction
whether industrial or not, and infrastructures such as roads or
pipelines. It is one of the first sectors of economic activity in the
world. Through a variety of soil and rock, a cyclic Conventional
Tunneling Method (CTM) remains the best one for projects with
highly variable ground conditions or shapes. CTM is the only
alternative for the renovation of existing tunnels and creating
emergency exit. During the drilling process, a wide variety of
non-desired vibrations may arise, and a method using a robot arm
is proposed. The main kinds of drilling through vibration here is the
bit-bouncing phenomenon (resonant axial vibration). Hence, assisting
the task by a robot arm may play an important role on drilling
performances and security. We propose to control the axial-vibration
phenomenon along the drillstring at a practical resonant frequency,
and embed a Resonant Sonic Drilling Head (RSDH) as a robot end
effector for drilling. Many questionable industry drilling criteria and
stability are discussed in this paper.
Abstract: This paper describes a preliminary work aimed at
setting a therapeutic support for autistic teenagers using three
humanoid robots NAO shared by ASD (Autism Spectrum Disorder)
subjects. The studied population had attended successfully a first
year program, and were observed with a second year program
using the robots. This paper focuses on the content and the effects
of the second year program. The approach is based on a master
puppet concept: the subjects program the robots, and use them as
an extension for communication. Twenty sessions were organized,
alternating ten preparatory sessions and ten robotics programming
sessions. During the preparatory sessions, the subjects write a story
to be played by the robots. During the robot programming sessions,
the subjects program the motions to be realized to make the robot
tell the story. The program was concluded by a public performance.
The experiment involves five ASD teenagers aged 12-15, who had
all attended the first year robotics training. As a result, a progress
in voluntary and organized communication skills of the five subjects
was observed, leading to improvements in social organization,
focus, voluntary communication, programming, reading and writing
abilities. The changes observed in the subjects general behavior
took place in a short time, and could be observed from one robotics
session to the next one. The approach allowed the subjects to
draw the limits of their body with respect to the environment, and
therefore helped them confronting the world with less anxiety.
Abstract: Involving students in English language learning process and achieving an adequate English language proficiency in the target language can be a great challenge for both teachers and students. This can prove even a far greater challenge to engage students with special needs (Dyslexia) if they have physical impairment and inadequate mastery of basic communicative language competence/proficiency in the target language. From this perspective, technology like robots can probably be used to enhance learning process for the special needs students who have extensive communication needs, who face continuous struggle to interact with their peers and teachers and meet academic requirements. Robots, precisely NAO, can probably provide them with the perfect opportunity to practice social and communication skills, and meet their English academic requirements. This research paper aims to identify to what extent robots can be used to improve students’ social interaction and communication skills and to understand the potential for robotics-based education in motivating and engaging UAEU dyslexic students to meet university requirements. To reach this end, the paper will explore several factors that come into play – Motion Level-involving cognitive activities, Interaction Level-involving language processing, Behavior Level -establishing a close relationship with the robot and Appraisal Level- focusing on dyslexia students’ achievement in the target language.
Abstract: This paper interrogates online representations of robot companions for children, including promotional material by manufacturers, media articles and technology blogs. The significance of the study lies in its contribution to understanding attitudes to robots. The prospect of childcare robots is particularly controversial ethically, and is associated with emotive arguments. The sampled material is restricted to relatively recent posts (the past three years) though the analysis identifies both continuous and changing themes across the past decade. The method extrapolates social representations theory towards examining the ways in which information about robotic products is provided for the general public. Implications for social acceptance of robot companions for the home and robot ethics are considered.
Abstract: This paper illustrates the concept of an algorithm to register specified markers on the neuroArm surgical manipulators, an image-guided MR-compatible tele-operated robot for microsurgery and stereotaxy. Two range-finding algorithms, namely time-of-flight and phase-shift, are evaluated for registration and supervisory control. The time-of-flight approach is implemented in a semi-field experiment to determine the precise position of a tiny retro-reflective moving object. The moving object simulates a surgical tool tip. The tool is a target that would be connected to the neuroArm end-effector during surgery inside the magnet bore of the MR imaging system. In order to apply flight approach, a 905-nm pulsed laser diode and an avalanche photodiode are utilized as the transmitter and receiver, respectively. For the experiment, a high frequency time to digital converter was designed using a field-programmable gate arrays. In the phase-shift approach, a continuous green laser beam with a wavelength of 530 nm was used as the transmitter. Results showed that a positioning error of 0.1 mm occurred when the scanner-target point distance was set in the range of 2.5 to 3 meters. The effectiveness of this non-contact approach exhibited that the method could be employed as an alternative for conventional mechanical registration arm. Furthermore, the approach is not limited by physical contact and extension of joint angles.
Abstract: In today’s market, striving hard has become necessary for the industries to survive due to the intense competition and globalization. In earlier days, there were few sellers and limited numbers of buyers, so customers were having fewer options to buy the product. But today, the market is highly competitive and volatile. Industries are focusing on robotics, advance manufacturing methods like AJM (Abrasive Jet Machining), EDM (Electric Discharge Machining), ECM (Electrochemical Machining) etc., CAD/CAM, CAE to make quality products and market them in shortest possible time. Leagile manufacturing system is ensuring best available solution at minimum cost to meet the market demand. This paper tries to assimilate the concept of Leagile manufacturing system in today’s scenario and evaluating key factors affecting Leagile manufacturing using digraph technique.
Abstract: This work presents a robot called Conceptual Robotic Cube, CR-Cube. The robot can be used as an educational tool for children from the age of three. It has a cube shape attached with a camera colours sensor. In addition, it contains four wheels to move smoothly. The researchers prepared a questionnaire to measure the efficiency of the robot. The design and the questionnaire was presented to 11 experts who agreed that the robot is appropriate for learning numbering and colours for preschool children.
Abstract: This paper applies to the creation of virtual 3D environments for the study and development of mobile robot image based navigation algorithms and techniques, which need to operate robustly and efficiently. The test of these algorithms can be performed in a physical way, from conducting experiments on a prototype, or by numerical simulations. Current simulation platforms for robotic applications do not have flexible and updated models for image rendering, being unable to reproduce complex light effects and materials. Thus, it is necessary to create a test platform that integrates sophisticated simulated applications of real environments for navigation, with data and image processing. This work proposes the development of a high-level platform for building 3D model’s environments and the test of image-based navigation algorithms for mobile robots. Techniques were used for applying texture and lighting effects in order to accurately represent the generation of rendered images regarding the real world version. The application will integrate image processing scripts, trajectory control, dynamic modeling and simulation techniques for physics representation and picture rendering with the open source 3D creation suite - Blender.
Abstract: Metal Ship and Robotic Car is one of the hands-on activities in the course, the Fundamental of Engineering that can be divided into three parts. The first part, the metal ships, was made by using engineering drawings, physics and mathematics knowledge. The second part is where the students learned how to construct a robotic car and control it using computer programming. In the last part, the students had to combine the workings of these two objects in the final testing. This aim of study was to investigate the effectiveness of hands-on activity by integrating Science, Technology, Engineering and Mathematics (STEM) concepts to develop scientific and engineering skills. The results showed that the majority of students felt this hands-on activity lead to an increased confidence level in the integration of STEM. Moreover, 48% of all students engaged well with the STEM concepts. Students could obtain the knowledge of STEM through hands-on activities with the topics science and mathematics, engineering drawing, engineering workshop and computer programming; most students agree and strongly agree with this learning process. This indicated that the hands-on activity: “Metal Ship and Robotic Car” is a useful tool to integrate each aspect of STEM. Furthermore, hands-on activities positively influence a student’s interest which leads to increased learning achievement and also in developing scientific and engineering skills.
Abstract: The wheelchair is the major means of transport for
physically disabled people. However, it cannot overcome architectural
barriers such as curbs and stairs. In this paper, the authors proposed
a method to avoid falling down of a wheeled inverted pendulum type
robotic wheelchair for climbing stairs. The problem of this system
is that the feedback gain of the wheels cannot be set high due to
modeling errors and gear backlash, which results in the movement
of wheels. Therefore, the wheels slide down the stairs or collide with
the side of the stairs, and finally the wheelchair falls down. To avoid
falling down, the authors proposed a slider control strategy based on
skyhook model in order to decrease the movement of wheels, and a
rotary link control strategy based on the staircase dimensions in order
to avoid collision or slide down. The effectiveness of the proposed
fall avoidance control strategy was validated by ODE simulations and
the prototype wheelchair.
Abstract: This paper presents a home-based robot-rehabilitation
instrument, called ”MAGNI Dynamics”, that utilized a vision-based
kinematic/dynamic module and an adaptive haptic feedback
controller. The system is expected to provide personalized
rehabilitation by adjusting its resistive and supportive behavior
according to a fuzzy intelligence controller that acts as an inference
system, which correlates the user’s performance to different stiffness
factors. The vision module uses the Kinect’s skeletal tracking to
monitor the user’s effort in an unobtrusive and safe way, by estimating
the torque that affects the user’s arm. The system’s torque estimations
are justified by capturing electromyographic data from primitive
hand motions (Shoulder Abduction and Shoulder Forward Flexion).
Moreover, we present and analyze how the Barrett WAM generates
a force-field with a haptic controller to support or challenge the
users. Experiments show that by shifting the proportional value,
that corresponds to different stiffness factors of the haptic path, can
potentially help the user to improve his/her motor skills. Finally,
potential areas for future research are discussed, that address how
a rehabilitation robotic framework may include multisensing data, to
improve the user’s recovery process.
Abstract: Electromyography (EMG) is one of the most important interfaces between humans and robots for rehabilitation. Decoding this signal helps to recognize muscle activation and converts it into smooth motion for the robots. Detecting each muscle’s pattern during walking and running is vital for improving the quality of a patient’s life. In this study, EMG data from 10 muscles in 10 subjects at 4 different speeds were analyzed. EMG signals are nonlinear with high dimensionality. To deal with this challenge, we extracted some features in time-frequency domain and used manifold learning and Laplacian Eigenmaps algorithm to find the intrinsic features that represent data in low-dimensional space. We then used the Bayesian classifier to identify various patterns of EMG signals for different muscles across a range of running speeds. The best result for vastus medialis muscle corresponds to 97.87±0.69 for sensitivity and 88.37±0.79 for specificity with 97.07±0.29 accuracy using Bayesian classifier. The results of this study provide important insight into human movement and its application for robotics research.