• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.5
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• pp.144-149
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• 2013

With the increasing of service robots, human-robot interaction for natural communication between user and robots is becoming more and more important. Especially, face recognition is a key issue of HRI. Even though robots mainly use face detection and recognition to provide various services, it is still difficult to guarantee of performance due to insufficient test methods in real service environment. Now, face recognition performance of most robots is evaluation for engine without consideration for robots. In this paper, we show validity of test method using LED monitor through performance comparison of real images with from images LED monitor.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.3
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• pp.1266-1273
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• 2013

The purpose of this study was to analysis the effect of form of outsole - complex function double rocker sole(CDR) vs. negative-heel rocker sole (NR) - on energy consumption and heart rate intensity during gait. 11 women, who had no medical history on musculoskeletal disease and surgery within 3 years prior to study, were participated. The walking energy cost per time (WECt) during 35minutes, heart rate intensity, and total calorie consumption were compared by using pair t-test. The WECt and total calorie consumption were found to be significantly higher(p<.05) in CDR than NR. However, there was no difference in HRi. Based on the present study, CDR shoe may have significant implications in shoe prescription for people who want to increase energy consumption.

• IEIE Transactions on Smart Processing and Computing
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• v.1 no.3
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• pp.192-200
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• 2012

In order for humans and robots to interact in daily life, robots need to understand human speech and link it to their actions. This paper proposes a hierarchical behavior model for robot action control using natural language commands. The model, which consists of episodes, primitive actions and atomic functions, uses a sentential cognitive system that includes multiple modules for perception, action, reasoning and memory. Human speech commands are translated to sentences with a natural language processor that are syntactically parsed. A semantic parsing procedure was applied to human speech by analyzing the verbs and phrases of the sentences and linking them to the cognitive information. The cognitive system performed according to the hierarchical behavior model, which consists of episodes, primitive actions and atomic functions, which are implemented in the system. In the experiments, a possible episode, "Water the pot," was tested and its feasibility was evaluated.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.2
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• pp.150-156
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• 2015

In this paper, a marionette control system using wrist and finger gestures through an IMU sensor is studied. The signals from the sensor device are conditioned and recognized, then the commands are sent to the 8 motors of the marionette via Bluetooth (5 motors control the motion of the marionette, and 3 motors control the location of the marionette). It is revealed that the degree of freedom of fingers are not independent from each other, therefore, some gestures are hardly made. Gesture mode changes for difficult postures of the fingers in cases of a lack of finger DOF are proposed. Therefore, the gesture mode change switches the assignment of gesture as required. Experimental results show that gesture mode change is successful for appropriate postures of a marionette.

• 한국정보교육학회:학술대회논문집
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• 2005.08a
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• pp.409-415
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• 2005

세계적으로 로봇 산업이 차세대 신성장 동력 산업으로 급부상하여 인간과 상호작용 즉 HRI 연구가 활발히 이루어지고 있는데, 최근 들어 로봇의 교육적 활용 연구가 시작되고 있다. 이에 본 연구에서는 교사 보조 로봇의 수업에서의 활용 가능성을 보기위해 사전에 만화 시나리오를 통한 적합한 교과목 후보를 정하였고, 초등학생 6학년의 기대역할을 갖는 프로토타입 로봇을 설계 개발하여 후보 교과목 수업에 활용하는 실험을 실시하였다. 이를 통해 아동이 로봇에게 기대하는 역할이 실험자의 의도와 일치하는지와 교육적 효과 제고에 기여를 하는지를 알아보고자 하였다. 그 결과, 아동은 교사 보조 로봇을 자신보다 약간 높은 나이로 인식하고, 친근하지만 자신보다 우월하여 자신을 이끌어 줄 수 있는 역할을 기대한다는 것을 알 수 있었다. 또한 교사 보조 로봇 활용이 교사와 아동의 흥미 유발에 있어 매우 효과적임을 보여, 향후 교사 보조 로봇은 ICT 활용 교육의 또 다른 매체로서의 가능성을 확인하였다.

• Information and Communications Magazine
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• v.33 no.8
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• pp.36-43
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• 2016

최근 인공지능의 급부상과 함께 서비스 로봇은 물론 산업용 로봇에 이르기까지 ICT 융합을 통한 HRI(Human Robot Interaction) 지능화가 가속화되고 있다. 제조, 물류, 공공장소, 가정 등 다양한 환경에서 인간과 가까이 공존하며 상호작용하는 지능로봇의 안전과 성능에 기반한 신뢰성 확보는 성장하는 로봇 시장에 중요한 이슈로 떠오르고 있다. 2014년 실내외에서 운용되는 개인지원로봇에 대한 기본 안전 요구 표준인 ISO 13482가 공표되고 유럽, 일본을 비롯한 세계시장은 국제 표준 에 기반한 서비스 로봇의 인증을 요구하고 있다. 이에 최근 국내 로봇 기업의 해외 시장 진출에 있어 가장 우선적으로 요구받고 있는 안전 요구조건과 검증에 필요한 위험 평가 프로세스를 소개하고 서비스 로봇의 안전 및 성능 평가 기술과 표준에 대하여 살펴본다.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2771-2773
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• 2005

In network human-robot interaction, human can access services of a robot system through the network The communication is done by interacting with the distributed sensors via voice, gestures or by using user network access device such as computer, PDA. The service organization and exploration is very important for this distributed system. In this paper we propose a new agent-based framework to integrate partners of this distributed system together and help users to explore the service effectively without complicated configuration. Our system consists of several robots. users and distributed sensors. These partners are connected in a decentralized but centralized control system using agent-based technology. Several experiments are conducted successfully using our framework The experiments show that this framework is good in term of increasing the availability of the system, reducing the time users and robots needs to connect to the network at the same time. The framework also provides some coordination methods for the human robot interaction system.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.570-572
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• 2006

This paper discusses the method of moving object detection for biped robot walking. Most researches on vision based object detection have mostly focused on fixed camera based algorithm itself. However, developing vision systems for biped walking robot is an important and urgent issue since hired walking robots are ultimately developed not only for researches but to be utilized in real life. In the research, method for moving object detection has been developed for task assignment and execution of biped robot as well as for human robot interaction (HRI) system. But these methods are not suitable to biped walking robot. So, we suggest the advanced method which is suitable to biped walking robot platform. For carrying out certain tasks, an object detecting system using modified optical flow algorithm by wireless vision camera is implemented in a biped walking robot.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.120.1-120
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• 2001

This paper proposes a prototype of a safe and reliable wheelchair robot with Human Robot Interaction (HRI). Since the wheelchair users are usually the handicapped, the wheelchair robot must guarantee the safety and reliability for the motion while considering users intention, A single color CCD camera is mounted for input user´s command based on human-friendly gestures, and a ultra sonic sensor array is used for sensing external motion environment. We use face and hand directional gestures as the user´s command. By combining the user´s command with the sensed environment configuration, the planner of the wheelchair robot selects an optimal motion. We implement a prototype wheelchair robot, MR, HURI (Mobile Robot with Human Robot Interaction) ...

• Journal of the Korean Society for Precision Engineering
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• v.23 no.5 s.182
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• pp.68-76
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• 2006

The ability to recognize human emotion is one of the hallmarks of human-robot interaction. Hence this paper describes the realization of emotion recognition. For emotion recognition from voice, we propose a new feature called frequency range of meaningful signal. With this feature, we reached average recognition rate of 76% in speaker-dependent. From the experimental results, we confirm the usefulness of the proposed feature. We also define the noise environment and conduct the noise-environment test. In contrast to other features, the proposed feature is robust in a noise-environment.