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نتیجه جستجو - تعامل انسان و ربات

تعداد مقالات یافته شده: 8
ردیف عنوان نوع
1 Ontology-based knowledge management with verbal interaction for command interpretation and execution by home service robots
مدیریت دانش مبتنی بر هستی شناسی با تعامل کلامی برای تفسیر و اجرای فرمان توسط روبات های خدمات خانگی-2021
This paper describes a system for service robots that combines ontological knowledge reasoning and human–robot interaction to interpret natural language commands and successfully perform household chores, such as finding and delivering objects. Knowledge and context reasoning is essential for providing more efficient service robots, given their diverse and continuously changing environments. Moreover, since they are in contact with humans, robots require such skills as interaction and language. Therefore, we developed a system with specific modules to manage robots’ knowledge and reasoning, command analysis, decision-making, and talking interaction. The system relies on inference methods and verbal interaction to understand commands and clarify uncertain information. We tested our system inside a simulated environment where the robot receives commands with missing or unclear information. The system’s performance was compared with the average performance of human subjects who completed the same commands in the simulation.
keywords: مدیریت دانش | مبتنی بر هستی شناسی | ربات های خدمات | تعامل انسان و ربات | Knowledge management | Ontology-based | Service robots | Human–robot interaction
مقاله انگلیسی
2 Cybersecurity, safety and robots: Strengthening the link between cybersecurity and safety in the context of care robots
امنیت سایبری، ایمنی و روبات ها: تقویت پیوند بین امنیت سایبری و ایمنی در زمینه ربات های مراقبت-2020
This paper addresses the interplay between robots, cybersecurity, and safety from a European legal perspective, a topic under-explored by current technical and legal literature. The legal framework, together with technical standards, is a necessary parameter for the production and deployment of robots. However, European law does not regulate robots as such, and there exist multiple and overlapping legal requirements focusing on specific contexts, such as product safety and medical devices. Besides, the recently enacted European Cybersecurity Act establishes a cybersecurity certification framework, which could be used to define cybersecurity requirements for robots, although concrete cyber-physical implementation requirements are not yet prescribed. In this article, we illustrate cybersecurity challenges and their subsequent safety implications with the concrete example of care robots. These robots interact in close, direct contact with children, elderly, and persons with disabilities, and a malfunctioning or cybersecurity threat may affect the health and well-being of these people. Moreover, care robots may process vast amounts of data, including health and behavioral data, which are especially sensitive in the healthcare domain. Security vulnerabilities in robots thus raise significant concerns, not only for manufacturers and programmers, but also for those who interact with them, especially in sensitive applications such as healthcare. While the latest European policymaking efforts on robot regulation acknowledge the importance of cybersecurity, many details, and their impact on user safety have not yet been addressed in depth. Our contribution aims to answer the question whether the current European legal framework is prepared to address cyber and physical risks from care robots and ensure safe human–robot interactions in such a sensitive context. Cybersecurity and physical product safety legal requirements are governed separately in a dual regulatory framework, presenting a challenge in governing uniformly and adequately cyber-physical systems such as care robots. We conceptualize and discuss the challenges of regulating cyber-physical systems’ security with the current dual framework, particularly the lack of mandatory certifications. We conclude that policymakers need to consider cybersecurity as an indissociable aspect of safety to ensure robots are truly safe to use.
Keywords: Cybersecurity | Safety | Robots | Human–robot interaction | Connected products | Medical Devices | Healthcare | GDPR | NIS Directive | Product Safety
مقاله انگلیسی
3 Reinforcement learning for facilitating human-robot-interaction in manufacturing
یادگیری تقویتی برای تسهیل تعامل انسان و ربات در تولید-2020
For many contemporary manufacturing processes, autonomous robotic operators have become ubiquitous. Despite this, the number of human operators within these processes remains high, and as a consequence, the number of interactions between humans and robots has increased in this context. This is a problem, as human beings introduce a source of disturbance and unpredictability into these processes in the form of performance variation. Despite the natural human aptitude for flexibility, their presence remains a source of disturbance within the system and make modelling and optimization of these systems considerably more challenging, and in many cases impossible. Improving the ability of robotic operators to adapt their behaviour to variations in human task performance is, therefore, a significant challenge to be overcome to enable many ideas in the larger intelligent manufacturing paradigm to be realised. This work presents the development of a methodology to effectively model these systems and a reinforcement learning agent capable of autonomous decision-making. This decision-making provides the robotic operators with greater adaptability, by enabling its behaviour to change based on observed information, both of its environment and human colleagues. The work extends theoretical knowledge on how learning methods can be implemented for robotic control, and how the capabilities that they enable may be leveraged to improve the interaction between robots and their human counterparts. The work further presents a novel methodology for the implementation of a reinforcement learning-based intelligent agent which enables a change in behavioural policy in robotic operators in response to performance variation in their human colleagues. The development and evaluation are supported by a generalized simulation model, which is parameterized to enable appropriate variation in human performance. The evaluation demonstrates that the reinforcement agent can effectively learn to make adjustments to its behaviour based on the knowledge extracted from observed information, and balance the task demands to optimise these adjustments.
Keywords: Intelligent manufacturing | Reinforcement learning | Human-robot interaction | Human factors | Adaptability
مقاله انگلیسی
4 A three-layer planning architecture for the autonomous control of rehabilitation therapies based on social robots
معماری برنامه ریزی سه لایه برای کنترل مستقل درمان های توانبخشی مبتنی بر ربات های اجتماعی-2017
This manuscript focuses on the description of a novel cognitive architecture called NAOTherapist, which provides a social robot with enough autonomy to carry out a non-contact upper limb rehabilitation therapy for patients with physical impairments, such as cerebral palsy and obstetric brachial plexus palsy. NAOTherapist comprises three levels of Automated Planning. In the high-level planning, the physician establishes the parameters of the therapy such as the scheduling of the sessions, the therapeutic objectives to be achieved and certain constraints based on the medical records of the patient. This information is used to establish a customized therapy plan. The objective of the medium-level planning is to execute and monitor every previous planned session with the humanoid robot. Finally, the low-level planning involves the execution of path-planning actions by the robot to carry out different low-level instructions such as performing poses. The technical evaluation shows an accurate definition and monitoring of the therapies and sessions and a fluent interaction with the robot. This automated process is expected to save time for the professionals while guaranteeing the medical criteria.‌© 2016 Elsevier B.V. All rights reserved.
Keywords: Robotic architecture | Human-Robot Interaction | Rehabilitation therapies | Automated Planning | Socially Assistive Robotics
مقاله انگلیسی
5 Perceiving emotions in robot body language: Acute stress heightens sensitivity to negativity while attenuating sensitivity to arousal
درک احساسات در زبان بدن ربات: استرس حاد حساسیت به منفی را افزایش می دهد در حالی که احساس حساسیت به آرامش را کاهش می دهد-2017
Reliance on socioemotional assistive robots is projected to increase, yet little is known about how our ability to perceive their emotional expression is impacted by psychological factors. In high-risk and high- tension domains such as emergency services and healthcare, how might the cognitive and physiological stress we are experiencing influence how we read a humanoid robots nonverbally conveyed emotions? Using a novel paradigm, we asked participants under experimentally-induced acute stress vs. low stress to evaluate a set of normed emotional body language poses conveyed by a physically-present vs. virtually-instantiated humanoid robot. Participants rated each pose for emotional valence (negativity/ positivity) and arousal (calm/excited). Acute stress increased the perception of negative valence in negative high arousal poses, consistent with stress-induced hypervigilance. Surprisingly, stress dimin- ished the perception of arousal in high arousal poses, whereas repeated presentation of the low arousal poses increased perception of arousal. Participants rated emotion similarly for the physically-present vs. virtually-present robot, although positively-valenced poses conveyed by the physical robot were perceived as more positive and more animate. We propose that perceptions of emotional arousal may be especially vulnerable to context effects and misattribution. These findings have implications for how assistive robots can best be designed for high-risk and high-tension contexts.© 2017 Elsevier Ltd. All rights reserved.
Keywords:Human-robot interaction | Emotion perception | Nonverbal communication | Acute stress | Social robots | Virtual reality
مقاله انگلیسی
6 The effects of cognitive biases and imperfectness in long-term robot-human interactions: Case studies using five cognitive biases on three robots
اثرات تعصبات شناختی و ناکارآمدی در تعاملات ربات انسانها در طولانی مدت: مطالعات موردی با استفاده از پنج تعصب شناختی در سه ربات-2017
The research presented in this paper demonstrates a model for aiding human-robot companionship based on the principle of ‘human’ cognitive biases applied to a robot. The aim of this work was to study how cognitive biases can affect human-robot companionship in long-time. In the current paper, we show comparative results of the experiments using five biased algorithms in three different robots such as ERWIN, MyKeepon and MARC. The results were analysed to determine what difference if any of biased vs unbiased interaction has on the interaction with the robot and if the participants were able to form any kind of ‘preference’ towards the different algorithms. The experimental presented show that the participants have more of a preference towards the biased algorithm interactions than the robot without the bias.© 2016 Elsevier B.V. All rights reserved.
Keywords: Human-robot interaction | Human-robot long-term interactions | Humanoid robot | Cognitive bias | Imperfect robots
مقاله انگلیسی
7 Metrics and benchmarks in human-robot interaction: Recent advances in cognitive robotics
متریک و معیار در تعامل انسان و ربات: پیشرفت های اخیر در رباتیک شناختی-2017
Robots are having an important growing role in human social life, which requires them to be able to behave appropriately to the context of interaction so as to create a successful long-term human-robot relationship. A major challenge in developing intelligent sys- tems, which could enhance the interactive abilities of robots, is defining clear metrics and benchmarks for the different aspects of human- robot interaction, like human and robot skills and performances, which could facilitate comparing between systems and avoid application-biased evaluations based on particular measures. The point of evaluating robotic systems through metrics and benchmarks, in addition to some recent frameworks and technologies that could endow robots with advanced cognitive and communicative abilities, are discussed in this technical report that covers the outcome of our recent workshop on current advances in cognitive robotics: Towards Intelligent Social Robots - Current Advances in Cognitive Robotics, in conjunction with the 15th IEEE-RAS Humanoids Conference- Seoul - South Korea - 2015 (https://intelligent-robots-ws.ensta-paristech.fr/). Additionally, a summary of an interactive discussion ses- sion between the workshop participants and the invited speakers about different issues related to cognitive robotics research is reported.© 2016 Elsevier B.V. All rights reserved.
Keywords: Metrics | Benchmarks | System evaluation | Intelligent robot technologies
مقاله انگلیسی
8 Interactive Scenario Development of Robot-assisted Therapy for Cerebral Palsy: A Face Validation Survey
توسعه سناریوی تعاملی درمان رباتی برای فلج مغزی: بررسی اعتبارسنجی صورت-2017
Humanoids have potential in the augmentation of rehabilitation programme for children with cerebral palsy. To make the humanoid programme applicable and clinically compliant, correct interactive scenarios had to be developed. Development of Human Robot Interaction (HRI) scenario is the main focus of this study. Through discussions with clinicians and therapists, four interactive scenarios have been formulated. The researchers have designed and developed the interactive scenarios concerning the suitability of measuring items in the Gross Motor Function Measure (GMFM) that is suitable to be applied by humanoid robot NAO. Choregraphe software, a programming tool that allows programmer to create and compile the behavior of the robot was used in this study. Choregraphe Suite is a multi-platform desktop application, to create animations, behaviors and dialogs. The developed interactive scenario had undergone a face validity process. This method of validation is used to confirm through peer reviews that the content of the interactive scenario is suitable to be used for children with cerebral palsy. Thirty peer reviewers, made up by a group of physiotherapists and occupational therapists validated the suitability of the interactive scenario. The result of the validation will be explained in this paper.© 2016 The Authors. Published by Elsevier B.V.Peer-review under responsibility of organizing committee of the 2016 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS 2016).© 2017 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).Peer-review under responsibility of organizing committee of the 2016 IEEE International Symposium on Robotics and Intelligent Sensors(IRIS 2016).
Keywords: Human-robot interaction | humanoid robot | cerebral palsy | rehabilitation robot | social robot
مقاله انگلیسی
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