Handing-over motion model based on analyses of hand motions and voice utterances of humans
In this paper, we propose a hand-over motion model based on analyses of hand motions and voice utterances of humans. This model generates a motion in which a robot hands over an object to a human accompanied by a voice greeting. In this model, a hand-over motion is generated based on the analyses of...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2014-09-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/80/817/80_2014dr0262/_pdf/-char/en |
| _version_ | 1797989041327570944 |
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| author | Mitsuru JINDAI Shunsuke OTA Yusuke IKEMOTO Tohru SASAKI |
| author_facet | Mitsuru JINDAI Shunsuke OTA Yusuke IKEMOTO Tohru SASAKI |
| author_sort | Mitsuru JINDAI |
| collection | DOAJ |
| description | In this paper, we propose a hand-over motion model based on analyses of hand motions and voice utterances of humans. This model generates a motion in which a robot hands over an object to a human accompanied by a voice greeting. In this model, a hand-over motion is generated based on the analyses of human hand-over motions; in particular, the timing between the voice utterances and the release motions of humans is analyzed. Then, the model generates the release motion of a robot in response to a voice utterance from a human. Furthermore, using the proposed hand-over motion model, two types of hand-over robot systems are developed. The first type is a human-arm handing-over robot system which is fabricated according to the average size of a human arm. The other type is a Cartesian-coordinate handing-over robot system. The effectiveness of the proposed model is demonstrated by sensory evaluation using these hand-over robot systems. Furthermore, using the Cartesian-coordinate handing-over robot system, the number of degrees of freedom is analyzed in order to generate a handing-over motion which is preferred by humans. |
| first_indexed | 2024-04-11T08:13:56Z |
| format | Article |
| id | doaj.art-a3f36d612cb1449099a9cfb869b3f3db |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-11T08:13:56Z |
| publishDate | 2014-09-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-a3f36d612cb1449099a9cfb869b3f3db2022-12-22T04:35:14ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612014-09-0180817DR0262DR026210.1299/transjsme.2014dr0262transjsmeHanding-over motion model based on analyses of hand motions and voice utterances of humansMitsuru JINDAI0Shunsuke OTA1Yusuke IKEMOTO2Tohru SASAKI3Graduate School of Science and Engineering, University of ToyamaGraduate School of Systems Engineering, Okayama Prefectural UniversityGraduate School of Science and Engineering, University of ToyamaGraduate School of Science and Engineering, University of ToyamaIn this paper, we propose a hand-over motion model based on analyses of hand motions and voice utterances of humans. This model generates a motion in which a robot hands over an object to a human accompanied by a voice greeting. In this model, a hand-over motion is generated based on the analyses of human hand-over motions; in particular, the timing between the voice utterances and the release motions of humans is analyzed. Then, the model generates the release motion of a robot in response to a voice utterance from a human. Furthermore, using the proposed hand-over motion model, two types of hand-over robot systems are developed. The first type is a human-arm handing-over robot system which is fabricated according to the average size of a human arm. The other type is a Cartesian-coordinate handing-over robot system. The effectiveness of the proposed model is demonstrated by sensory evaluation using these hand-over robot systems. Furthermore, using the Cartesian-coordinate handing-over robot system, the number of degrees of freedom is analyzed in order to generate a handing-over motion which is preferred by humans.https://www.jstage.jst.go.jp/article/transjsme/80/817/80_2014dr0262/_pdf/-char/enhanding-over motionrobot-human systemembodied interactiontrajectory generation |
| spellingShingle | Mitsuru JINDAI Shunsuke OTA Yusuke IKEMOTO Tohru SASAKI Handing-over motion model based on analyses of hand motions and voice utterances of humans Nihon Kikai Gakkai ronbunshu handing-over motion robot-human system embodied interaction trajectory generation |
| title | Handing-over motion model based on analyses of hand motions and voice utterances of humans |
| title_full | Handing-over motion model based on analyses of hand motions and voice utterances of humans |
| title_fullStr | Handing-over motion model based on analyses of hand motions and voice utterances of humans |
| title_full_unstemmed | Handing-over motion model based on analyses of hand motions and voice utterances of humans |
| title_short | Handing-over motion model based on analyses of hand motions and voice utterances of humans |
| title_sort | handing over motion model based on analyses of hand motions and voice utterances of humans |
| topic | handing-over motion robot-human system embodied interaction trajectory generation |
| url | https://www.jstage.jst.go.jp/article/transjsme/80/817/80_2014dr0262/_pdf/-char/en |
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