担当区分：筆頭著者,　責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）

In a diverse society, a crucial aspect of developing social robots is their ability to adapt to each individual's characteristics. There are two types of adaptation: physical and social. In pHRI, attention is paid to physical adaptation, but by investigating the social meaning of physical adaptation, we can extend it to social adaptation. Although it is a physical interaction, a handshake is a social action with complex meanings. We realized a handshaking robot with a Rowat-Selverston CPG controller that can synchronize with human movements. This study aims to clarify the relationship between physical and social adaptation by examining individual characteristics inferred from the internal state of the robot and human-robotic social attributes. Our finding is that there is a correlation between the internal state of the robot and some robotic social attributes. It was also found that the length of the handshake had little effect on these social perceptions. This study highlights the complex interplay between robot physical adaptability and social attribution, providing a foundation for developing robots capable of personalized and socially meaningful interactions.

DOI： 10.1080/01691864.2024.2384422

Kyutacar

Scopus

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担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

In the field of human-robot interaction (HRI), social coordination, meaning the cooperation between humans and robots through emotional and cognitive states, can be an essential element in considering the social position of robots for social implementation. A handshake is an interaction involving physical and social coordination in that it is the first interaction between humans involving physical contact, but also the first opportunity for social interaction. In this paper, we developed a CPG (Central Pattern Generator) controlled handshake robot to clarify the relationship between this social and physical coordination. In the experiment, we investigated how the control method affects the robot's social attributes as perceived by humans by using the Robot Social Attributes Scale (RoSAS) for passive control methods using simple impedance control and cooperative and active control methods using the CPG controller we developed. Results from a 14-subject experiment showed that the CPG-based control method improved the social attributes of being competent and comfortable with the robot. Based on the results of these studies, we propose guidelines for future research on handshake robots and contribute to the development of future social robots.

DOI： 10.1109/RO-MAN60168.2024.10731377

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85209791435&origin=inward

担当区分：筆頭著者,　責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）

Dressing is a critical component of Activity of Daily Living (ADLs). The development of assistive technology for dressing tasks is urgently needed from the viewpoint of privacy, for example, to prevent the wearer from being seen in the nude. Despite their importance, these technologies are underutilized in garment donning compared to other ADLs. The reasons for the lack of utilization of assistive technology are that the task is complex, as it involves handling individuals with large individual differences in height and symptoms and requires manipulation of flexible clothing. Addressing these variances presents a formidable academic challenge. Our previous study identified periodic patterns in human movements during robot-assisted dressing and noted individual variability in these patterns. Capitalizing on this finding, we propose a novel control strategy for a robot that adapts to individual needs during dressing, employing the ‘Assist-As-Needed’ (AAN) principle from physical therapy. The proposed control method uses Central Pattern Generators (CPG) that can be synchronously controlled in response to external forces, enabling model-free control without human modeling. We utilize the Rowat-Selverston CPG model, which is recognized for its adaptive response to human motions in human-robot interactions such as with handshaking robots. A simulator of the Rowat-Selverston CPG was created. The output of the CPG was confirmed by inputting the data set obtained in previous studies, and the parameters were adjusted. The CPG output was then applied to the recorded target joint trajectory for the dressing assistance. We prepared a replay of the default trajectory, a trajectory with simple harmonic motion applied, and a trajectory with CPG output applied, and confirmed whether individual adaptation according to the AAN was possible through subject experiments. The experimental results showed that the Rowat-Selverston CPG control method enables individual adaptive dressing assistance according to the AAN principle. This study summarizes these methods and results and contributes to the realization of an individually adaptive system that follows the AAN principle, especially in developing assistive technology.

DOI： 10.1080/01691864.2024.2399728

Kyutacar

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85204498176&origin=inward

担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

We propose a framework for a new control method for robotic dressing assistance systems that utilize the residual capabilities of the person being dressed. The proposed control method focuses on the swinging motion of the arm during dressing, and by passively controlling the arm in response to the human's movement, the robot does not inhibit the human's movement but only provides the minimum necessary support for dressing. The proposed control method is realized by assuming that the arm-swinging movements of the human during controlled dressing have some regularity and that modeling is possible. By acquiring and analyzing the skeletal information of the person being dressed during the dressing assistance by the robot, the possibility of the proposed method is discussed by proving the assumption, and the future prospects for the realization of a controller that makes use of residual abilities are also discussed.

DOI： 10.1109/RO-MAN57019.2023.10309329

Kyutacar

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85186986476&origin=inward

担当区分：筆頭著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）

<p>In Japan, the shortage of caregivers due to the aging of the population is a serious issue and the demand for care robots is increasing. Changing and wiping, which is one of the main care tasks, is still not sufficiently skilled and is often carried out by carers alone. Against this background, we are developing a dressing assistance robot system. However, the task of picking hangers from the hanger rack was a bottleneck in our dressing assistance robot system. Therefore, we developed a hanger recognition method based on active object recognition for implementation in a dressing assistance robot system and improved the recognition accuracy. In this paper, the usefulness of a recognition method using active object recognition in the hanger recognition task is evaluated through experiments and future prospects for integration into a dressing assistance system are described. </p>

DOI： 10.7210/jrsj.41.881

Kyutacar

CiNii Research

その他リンク： https://kyutech.repo.nii.ac.jp/records/2002162

担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

<p>We have been developing the "Smart Workcell," which supports the elderly and disabled in the high-mix, low-volume production of products and self-help devices. This study installed an electric wheelchair in a Smart Workcell and proposed a velocity-based head gesture control system that uses the face orientation acquired by a depth sensor to allow the user to change the chair posture in an ambient manner. Finally, the proposed system's effectiveness is verified by experiments, and prospects, such as speech recognition methods as a human interface for electric wheelchair are also discussed.</p>

DOI： 10.1299/jsmelem.2021.10.125-118

CiNii Research

その他リンク： https://www.jstage.jst.go.jp/article/jsmelem/2021.10/0/2021.10_125-118/_pdf

記述言語：英語   掲載種別：研究論文（学術雑誌）

Robotic cloth manipulation suffers from a lack of standardized benchmarks and shared datasets for evaluating and comparing different approaches. To address this, we created a benchmark and organized the ICRA 2024 Cloth Competition, a unique head-to-head evaluation focused on grasp pose selection for in-air robotic cloth unfolding. Eleven teams participated in the competition, utilizing the publicly released dataset of 500 real-world robotic grasp attempts for cloth unfolding and employing diverse approaches to generate in-air unfolding grasps. Analysis of the competition results revealed insights about the trade-off between grasp success and coverage, the surprisingly strong achievements of hand-engineered methods and a significant discrepancy between competition performance and prior work, underscoring the importance of independent, out-of-the-lab evaluation in robotic cloth manipulation. We also expanded the dataset with 176 competition evaluation trials, resulting in a dataset of 679 unfolding demonstrations across 34 garments. This dataset is a valuable resource for developing and evaluating grasp selection methods, particularly for learning-based approaches. We hope that the benchmark, dataset, and competition results can serve as a foundation for future benchmarks and drive further progress in data-driven robotic cloth manipulation.

DOI： 10.1177/02783649251414885

Scopus

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記述言語：日本語   掲載種別：研究論文（その他学術会議資料等）

<p>This study proposes a rope-twirling robot using CPG control with visual feedback to achieve adaptive coordination with humans. Experiments show shorter ropes improve synchronization, while longer ropes increase instability, highlighting the need for improved sensory integration.</p>

DOI： 10.1299/jsmermd.2025.2a2-t09

CiNii Research

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2025/0/2025_2A2-T09/_pdf