• Journal of Institute of Control, Robotics and Systems
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• v.10 no.9
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• pp.771-778
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• 2004

Recently, various applications of robot system become more popular in accordance with rapid development of computer hardware/software, artificial intelligence, and automatic control technology. Formerly robots mainly have been used in industrial field, however, nowadays it is said that the robot will do an important role in the home service application. To make the robot more useful, we require further researches on implementation of natural communication method between the human and the robot system, and autonomous behavior generation. The gesture recognition technique is one of the most convenient methods for natural human-robot interaction, so it is to be solved for implementation of intelligent robot system. In this paper, we describe the state-of-the-art of advanced gesture recognition technologies for intelligent robots according to three methods; sensor based method, feature based method, appearance based method, and 3D model based method. And we also discuss some problems and real applications in the research field.

• Journal of the Ergonomics Society of Korea
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• v.21 no.2
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• pp.101-111
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• 2002

An intelligent robot, which has been developed recently, is no more a conventional robot widely known as an industrial robot. It is a computer system embedded in a machine and utilizes the machine as a medium not only for the communication between the human and the computer but also for the physical interaction among the human, the computer and their environment. Recent advances in computer technology have made it possible to create several of new types of human-computer interaction which are realized by utilizing intelligent machines. There is a continuing need for better understanding of how to design human/robot interface(HRI) to make for a more natural and efficient flow of information and feedback between robot systems and their users in both directions. In this paper, we explain the concept and the scope of HRI and review the current research trends of domestic and foreign HRL. The recommended research directions in the near future are also discussed based upon a comparative study of domestic and foreign HRI technology.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.555-557
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• 1992

Recently, realization of an intelligent cooperative interaction system between a man and robot systems is required. In this paper, HyperCard with a voice control is used for above system because of its easy handling and excellent human interfaces. Clicking buttons in the HyperCard by a mouse device or a voice command means controlling each joint of a robot system. Robot teaching operation of grasping a bin and pouring liquid in it into a cup is carried out. This robot teaching method using HyperCard provides a foundation for realizing a user friendly cooperative interaction system.

• International journal of advanced smart convergence
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• v.4 no.2
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• pp.154-162
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• 2015

This paper focuses on how cognitive and emotional structures affect humans during long-term interaction. We design an interaction with a turn-based game, the Chopstick Game, in which two agents play with numbers using their fingers. While a human and a robot agent alternate turn, the human user applies herself to play the game and to learn new winning skills from the robot agent. Conventional valence and arousal space is applied to design emotional interaction. For the robotic system, we implement finger gesture recognition and emotional behaviors that are designed for three-dimensional virtual robot. In the experimental tests, the properness of the proposed schemes is verified and the effect of the emotional interaction is discussed.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1777-1778
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• 2007

In this paper, We design and implement a humanoid robot, With Educational purpose, which can collaborate and communicate with human. We present an affective human-robot communication system for a humanoid robot, D2, which we designed to communicate with a human through dialogue. D2 communicates with humans by understanding and expressing emotion using facial expressions, voice, gestures and posture. Interaction between a human and a robot is made possible through our affective communication framework. The framework enables a robot to catch the emotional status of the user and to respond appropriately. As a result, the robot can engage in a natural dialogue with a human. According to the aim to be interacted with a human for voice, gestures and posture, the developed Educational humanoid robot consists of upper body, two arms, wheeled mobile platform and control hardware including vision and speech capability and various control boards such as motion control boards, signal processing board proceeding several types of sensors. Using the Educational humanoid robot D2, we have presented the successful demonstrations which consist of manipulation task with two arms, tracking objects using the vision system, and communication with human by the emotional interface, the synthesized speeches, and the recognition of speech commands.

• The Journal of Korea Robotics Society
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• v.18 no.4
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• pp.419-426
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• 2023

Assembly tasks are difficult to fully automate due to uncertain errors occurring in unstructured environments. When assembling parts such as electrical connectors, advances in grasping and assembling technology have made it possible for the robot to assemble the connectors without the aid of humans. However, some parts with tight assembly tolerances should be assembled by humans. Therefore, task sharing with human-robot interaction is emerging as an alternative. The goal of this concept is to achieve shared autonomy, which reduces the efforts of humans when carrying out repetitive tasks. In this study, a task-sharing robotic system for assembly process has been proposed to achieve shared autonomy. This system consists of two parts, one for robotic grasping and assembly, and the other for monitoring the process for robot-human task sharing. Experimental results show that robots and humans share tasks efficiently while performing assembly tasks successfully.

• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.67-74
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• 2013

This paper presents interaction force control between a balancing robot and a human operator. The balancing robot has two wheels to generate movements on the plane. Since the balancing robot is based on position control, the robot tries to maintain a desired angle to be zero when an external force is applied. This leads to the instability of the system. Thus a hybrid force control method is employed to react the external force from the operator to guide the balancing robot to the desired position by a human operator. Therefore, when an operator applies a force to the robot, desired balancing angles should be modified to maintain stable balance. To maintain stable balance under an external force, suitable desired balancing angles are determined along with force magnitudes applied by the operator through experimental studies. Experimental studies confirm the functionality of the proposed method.

• Journal of Mechanical Science and Technology
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• v.18 no.11
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• pp.1900-1908
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• 2004

A human-friendly interactive system that is based on the harmonious symbiotic coexistence of human and robots is explored. Based on interactive technology paradigm, a robotic cane is proposed for blind or visually impaired travelers to navigate safely and quickly through obstacles and other hazards faced by blind pedestrians. Robotic aids, such as robotic canes, require cooperation between human and robots. Various methods for implementing the appropriate cooperative recognition, planning, and acting, have been investigated. The issues discussed include the interaction between humans and robots, design issues of an interactive robotic cane, and behavior arbitration methodologies for navigation planning.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.7-12
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• 2008

In human and robot interaction, the role of emotion becomes more important Therefore, robots need the emotion expression mechanism similar to human. In this paper, we suggest a new emotion expression system based on the psychological studies and it consists of five affective elements, i.e., the emotion, the mood, the personality, the tendency, and the machine rhythm. Each element has somewhat peculiar influence on the emotion expression pattern change according to their characteristics. As a result, although robots were exposed to the same external stimuli, each robot can show a different emotion expression pattern. The proposed system may contribute to make a rather natural and human-friendly human-robot interaction and to promote more intimate relationships between people and robots.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1121-1125
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• 2004

The RT(Robot Technology) has been developed as the next generation of a future technology. According to the 2002 technical report from Mitsubishi R&D center, IT(Information Technology) and RT(Robotic Technology) fusion system will grow five times larger than the current IT market at the year 2015. Moreover, a recent IEEE report predicts that most people will have a robot in the next ten years. RCP(Robotic Cellular Phone), CP(Cellular Phone) having personal robot services, will be an intermediate hi-tech personal machine between one CP a person and one robot a person generations. RCP infra consists of $RCP^{Mobility}$, $RCP^{Interaction}$, $RCP^{Integration}$ technologies. For $RCP^{Mobility}$, human-friendly motion automation and personal service with walking and arming ability are developed. $RCP^{Interaction}$ ability is achieved by modeling an emotion-generating engine and $RCP^{Integration}$ that recognizes environmental and self conditions is developed. By joining intelligent algorithms and CP communication network with the three base modules, a RCP system is constructed. Especially, the RCP interaction system is really focused in this paper. The $RCP^{interaction}$(Robotic Cellular Phone for Interaction) is to be developed as an emotional model CP as shown in figure 1. $RCP^{interaction}$ refers to the sensitivity expression and the link technology of communication of the CP. It is interface technology between human and CP through various emotional models. The interactive emotion functions are designed through differing patterns of vibrator beat frequencies and a feeling system created by a smell injection switching control. As the music influences a person, one can feel a variety of emotion from the vibrator's beats, by converting musical chord frequencies into vibrator beat frequencies. So, this paper presents the definition, the basic theory and experiment results of the RCP interaction system. We confirm a good performance of the RCP interaction system through the experiment results.