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This study aims to experimentally determine the most suitable control interface for different subtasks in the teleoperation of construction robots in a simulation environment. We compare a conventional lever-based rate control interface ("Rate-lever") with two alternative methods: rate control ("Rate-3D") and position control ("Position-3D"), both using a 3D positional input device. In the experiments, participants operated a construction machine in a virtual environment and evaluated the control interfaces across three tasks: sagittal plane excavation, turning, and continuous operation. The results revealed that "Position-3D" outperformed others for sagittal excavation, while both "Rate-lever" and "Rate-3D" were more effective for turning. Notably, "Position-3D" and "Rate-3D" can be implemented on the same input device and are easily integrated. This feature offers the possibility of a hybrid-type interface suitable for operators to obtain optimized performance in sagittal and horizontal tasks. [ABSTRACT FROM AUTHOR]

To advance research on more intuitive interfaces that connect people to people and people to machines and to achieve interfaces that are user-friendly for everyone regardless of age or disability, we focus on researching neurotechnology using brainwaves and cybernetics using techniques such as electromyostimulation. In this article, we introduce our latest research. [ABSTRACT FROM AUTHOR]

This study aims to experimentally determine the most suitable control interface for different subtasks in the teleoperation of construction robots in a simulation environment. We compare a conventional lever-based rate control interface (“Rate-lever”) with two alternative methods: rate control (“Rate-3D”) and position control (“Position-3D”), both using a 3D positional input device. In the experiments, participants operated a construction machine in a virtual environment and evaluated the control interfaces across three tasks: sagittal plane excavation, turning, and continuous operation. The results revealed that “Position-3D” outperformed others for sagittal excavation, while both “Rate-lever” and “Rate-3D” were more effective for turning. Notably, “Position-3D” and “Rate-3D” can be implemented on the same input device and are easily integrated. This feature offers the possibility of a hybrid-type interface suitable for operators to obtain optimized performance in sagittal and horizontal tasks.

This research addresses the data overload faced by intelligence searchers in government and defense agencies. The study leverages methods from the Cognitive Systems Engineering (CSE) literature to generate insights into the intelligence search work domain. These insights are applied to a supporting concept and requirements for designing and evaluating a human-AI agent team specifically for intelligence search tasks. Domain analysis reveals the dynamic nature of the 'value structure', a term that describes the evolving set of criteria governing the intelligence search process. Additionally, domain insight provides details for search aggregation and conceptual spaces from which the value structure could be efficiently applied for intelligence search. Support system designs that leverage these findings may enable an intelligence searcher to interact with and understand data at more abstract levels to improve task efficiency. Additionally, new system designs can support the searcher by facilitating an 'Ambient Awareness' of non-selected objects in a large data field through relevant system cues. Ambient Awareness achieved through the supporting concept and AI teaming has the potential to address the data overload problem while increasing the breadth and depth of search coverage. [ABSTRACT FROM AUTHOR]

Autonomous driving is expected to solve various other social issues, as well as increase the international competitiveness of the automobile industry. It is difficult for autonomous driving to deal with unexpected situations. Therefore, remote driving is expected to serve as a backup in such situations. In a remote-controlled vehicle system, a pilot is affected by lack of physical sensation and communication delays of camera images. It is necessary to evaluate the driving characteristics and driving load of a remote vehicle pilot. This study aims to clarify the effects of communication delays of camera images in the speed ranges of 20 km/h and 50 km/h on the driving characteristics and driving load of the remote pilot based on physiological signals using driving simulator. [ABSTRACT FROM AUTHOR]

In this study, we developed a novel method to determine the optimal viewpoint from which an operator could realize faster and more accurate robot teleoperation using reinforcement learning. The reinforcement learning model was trained using images obtained from several candidate viewpoints from scratch, and the viewpoint at which the model achieved the highest rewards was considered the optimal viewpoint. The target robot, task, and environment were modeled using computer simulations and the candidate viewpoint images were obtained using those simulations. We employed the world model as our reinforcement learning model to maximize rewards in the reaching task of a robot arm. The reward function was designed to encourage the robot arm to reach the target position both quickly and accurately. The experimental results validated the choice of the world model as the reinforcement learning model. Moreover, subject experiments wherein subjects operated a robot arm remotely to reach the target position were conducted. The experiments produced results that strongly aligned with the performance obtained through computer simulations, indicating that the proposed method is capable of selecting the optimal viewpoint without handcrafted design and subject experiments.

To enhance the performance of multi-degree-of-freedom hand-held forceps that support minimally invasive surgery, it is important to correctly sense the operator's intended operation input. In our hand-held robotic forceps that use a force sensor as an input device, it was necessary to solve the problem of unintended operation input due to gripper operation to move the joint of the forceps. We describe a method for eliminating this unintended input to the interface of the hand-held robotic forceps and present the results of an evaluation of its performance. We used a virtual grasp-and-reach task with cursor manipulation of the forceps' input device in our experiments and evaluated the throughput on the basis of Fitts' law, which is used to evaluate human interfaces; the evaluation was based on the results of manipulations by two participants. The results showed that the mean throughput was 1.5 to 2 times higher when the proposed processing was used. This suggests that the proposed processing of the operational input of the interface contributes to the improvement of performance with the hand-held robotic forceps. [ABSTRACT FROM AUTHOR]

This paper describes a gesture interface for a factory transfer robot. Our proposed interface used gesture recognition to recognize the pointing direction, instead of estimating the point as in conventional pointing gesture estimation. When the autonomous mobile robot (AMR) recognized the pointing direction, it performed position control based on the object recognition. The AMR traveled along our unique path to ensure that its camera detected the object to be referenced for position control. The experimental results confirmed that the position and angular errors of the AMR controlled with our interface were 0.058 m and 4.7° averaged over five subjects and two conditions, which were sufficiently accurate for transportation. A questionnaire showed that our interface was user-friendly compared with manual operation with a commercially available controller. [ABSTRACT FROM AUTHOR]

This research addresses the data overload faced by intelligence searchers in government and defense agencies. The study leverages methods from the Cognitive Systems Engineering (CSE) literature to generate insights into the intelligence search work domain. These insights are applied to a supporting concept and requirements for designing and evaluating a human-AI agent team specifically for intelligence search tasks. Domain analysis reveals the dynamic nature of the ‘value structure’, a term that describes the evolving set of criteria governing the intelligence search process. Additionally, domain insight provides details for search aggregation and conceptual spaces from which the value structure could be efficiently applied for intelligence search. Support system designs that leverage these findings may enable an intelligence searcher to interact with and understand data at more abstract levels to improve task efficiency. Additionally, new system designs can support the searcher by facilitating an ‘Ambient Awareness’ of non-selected objects in a large data field through relevant system cues. Ambient Awareness achieved through the supporting concept and AI teaming has the potential to address the data overload problem while increasing the breadth and depth of search coverage.

Through the transformation that the electrical sector has been passing by, improvements in asset management and the guarantee of sustainable and quality services have become essential aspects for power companies. Thus, the digitalization of energy utilities presents itself as an important and crucial process. A concept that involves a variety of innovative trends is the digital twin. It consists of a 3D virtual replica of existing physical objects and real-time monitoring of certain measures. By developing a digital twin in the electrical power grid, a virtual replica of the network is obtained providing network virtual maps, 3D asset models, dynamic and real-time data of grid assets, and IoT sensing. All these data can feed a platform where AI-based models and advanced field operation technologies and solutions will be applied. With a Network Digital Twin©development, applications involving on-field activities can be improved through augmented reality (AR) and virtual reality (VR) to enhance workforce operations. This paper discusses the best practices for the development of a digital twin for the electrical power sector. These practices were found during the development of a project carried out by Enel Distribuição São Paulo, applying a living lab concept in the densest region of Brazil. The results of this paper present 3D images captured with specialized tools, and how they influence the workforce activities of human interface operation. Furthermore, financial and operational returns are presented through a cost–benefit analysis for each relevant aspect. [ABSTRACT FROM AUTHOR]

Abstract In robot teleoperation, a lack of depth information often results in collisions between the robots and obstacles in its path or surroundings. To address this issue, free viewpoint images can greatly benefit the operators in terms of collision avoidance as the operators are able to view the robot’s surrounding from the images at arbitrary points, giving them a better depth information. In this paper, a novel free viewpoint image generation system is proposed. One approach to generate free viewpoint images is to use multiple cameras and Light Detection and Ranging (LiDAR). Instead of using the expensive LiDAR, this study utilizes a cost-effective laser rangefinder (LRF) and a characteristic of man-made environments. In other words, we install multiple fisheye cameras and an LRF on a robot. Free viewpoint images are generated under the assumption that walls are perpendicular to the floor. Furthermore, an easy calibration for estimating the poses of the multiple fisheye cameras, the LRF, and the robot model is proposed. Experimental results show that the proposed method can generate free viewpoint images using cameras and an LRF. Finally, the proposed method is primarily implemented using OpenGL Shading Language to utilize a graphics processing unit computation to achieve a real-time processing of the multiple high-resolution images. Supplementary videos and our source code are available at our project page ( https://matsuren.github.io/fvp ).

Dilated pupil response has effects on favorable impression to human. Focusing on the pupil response in human-robot interaction, we have developed a pupil response system using hemisphere displays and confirmed that the pupil response is effective for enhancing affective conveyance in human-robot interaction. In this study, for the basic research of realizing a friendly communication during embodied interaction between human and robot, we analyzed the pupil response during body contact that is closely related to affinity using a pupil measurement device. On the basis of the analysis results, we developed a pupil response pet-robot for enhancing affinity in human-robot interaction. This pet-robot generates the pupil response based on the body contact using small displays in which the 3D CG model of pupil and iris is represented, and can impress cuteness and familiarity. The effectiveness of the developed pet-robot with dilation of the pupil response at 2.0 times during body contact was demonstrated by sensory evaluations.

This second part of an ethnographic study on how apartheid legislation implemented by the National Party government between 1948 to 1994 was resisted by some libraries in South Africa shows how the South African Library Association (SALA) and its successor, the South African Institute of Librarianship and Information Science (SAILIS), despite discussing the need for a code ofprofessional ethics in 1975, were unable to achieve agreement on the issue. Meanwhile, European and American publishers were drawn into the ethical dilemma as a result Of the Anti-Apartheid Movement's academic boycott. Both censorship and book boycotts are shown to be blum weapons inappropriate for political activism because not all who are punished are guilty, and not all who benefit are worthy. The object Of ideological control is defeated by the difficulties surrounding enforcement. The interpersonal human interface takes precedence over political ideology. [ABSTRACT FROM AUTHOR]

In this paper, a novel system that remotely operates home appliances is proposed. The system is based on a command space associated with the operation of the home appliance. Thus, a user is able to control the system with simple hand gestures at an arbitrary position. In the system, a pseudo relative coordinate system which is a user-definable coordinate system is applied. The hand waving gesture is detected from the images acquired by multiple cameras installed in the room. Then, the position of hand waving gesture is calculated using the stereo measurement. Next, the pseudo relative coordinate system is defined according to the calculated position. Therefore, it is possible to operate home appliances freely at an arbitrary position chosen by the user. In addition, home appliances are operated using a hand positioning gesture that requires less operation time and less burden than a hand waving gesture. The hand positioning gesture is detected using the frame subtraction and the background subtraction. Experiments verify the operation accuracy and operation time for commands using the proposed system for detailed operations such as TV channel switching.

Vibrotactile phantom sensation is an intuitive methodology for perceiving the localization of a moving object. However, the presentation area is limited to the inter-stimulus. To extend the range of presentation beyond the inter-stimulus region, we attempted to establish a novel mathematical model for representing a wider range of phantom sensation than conventional models. The experiments 1-1 and 1-2 compared three methods (linear, exponential-like, and conventional inter-stimulus models). The results indicated that the proposed linear and exponential-like models effectively generated both the sense of outer and inner movement with and without training, and that the exponential-like model is best suited to represent accurate phantom sensations that cover the extended outer region. In experiment 2, we examined the effect of γ, a parameter related to the magnitude of exponential-like model damping, on presentation accuracy. The results showed that the high-dumping model ( γ = 2) showed high accuracy and suggested a trade-off between presentation accuracy and range. The findings of this study are expected to provide guidelines for the effective presentation of a wide range of phantom sensations occurring outside the inter-stimulus. [ABSTRACT FROM AUTHOR]

Soft and stretchable conductors with high electrical conductivity and tissue-like mechanical properties are crucial for both on-skin and implantable electronic devices. Liquid metal-based conductors hold great promise due to their metallic conductivity and minimal stiffness. However, the surface oxidation of liquid metal particles in polymeric matrices poses a challenge in forming a continuous pathway for highly conductive elastic composites. Here, it is reported a printable composite material based on liquid metal and conducting polymer that undergoes a self-assembly process, achieving high conductivity (2089 S cm -1 ) in the bottom surface while maintaining an insulated top surface, high stretchability (>800%), and a modulus akin to human skin tissue. This material is further applied to fabricate skin-interfaced strain sensors and electromyogram sensors through 3D printing., (© 2024 The Authors. Advanced Materials published by Wiley‐VCH GmbH.)

Human beings communicate using more than verbal communication. To communicate smoothly, humans tend to use nonverbal information such as nodding during embodied interactions. Nodding is a form of affirmative gesture that is commonly used by humans worldwide while communicating with each other. The accurate detection of nodding is expected to support communication, analyze a conversation scene, and facilitate embodied interaction. In contrast, nodding is known to be related not only to the motion of the head but also to the rhythm of the voice. By using both head motion and voice rhythms, nodding can be estimated more accurately than methods that use only head motion or voice rhythms. Therefore, in this study, we develop a nodding detection system based on head motion and voice rhythm. In this system, the head motion of the listener is measured using face tracking. Then, the nodding motion is estimated using a neural network for head motion. Furthermore, the neural networks estimate the timings at which the listener is nodding by using the voice of the speaker. Subsequently, the nodding is estimated using logical OR and logical AND based on outputs of the head movement and speech rhythm neural networks. In addition, a neural network that integrates head motion and voice rhythm is developed. Furthermore, the effectiveness of the developed methods is demonstrated through evaluation experiments.

Recently, dynamic text presentation, such as scrolling text, has been widely used. Texts are often presented at constant timing and speed in conventional dynamic text presentation. However, dynamic text presentation enables visually presented texts to indicate timing information, such as prosody, and the texts might influence the impression of reading. In this paper, we examined this possibility by focusing on the temporal features of digital text in which texts are represented sequentially and with varying speed, duration, and timing. We call this “textual prosody.” We used three types of textual prosody: “Recorded,” “Shuffled,” and “Constant.” Recorded prosody is the reproduction of a reader’s reading with pauses and varying speed that simulates talking. Shuffled prosody randomly shuffles the time course of speed and pauses in the recorded type. Constant prosody has a constant presentation speed and provides no timing information. Experiment 1 examined the effect of textual prosody on people with normal hearing. Participants read dynamic text with textual prosody silently and rated their impressions of texts. The results showed that readers with normal hearing preferred recorded textual prosody and constant prosody at the optimum speed (6 letters/second). Recorded prosody was also preferred at a low presentation speed. Experiment 2 examined the characteristics of textual prosody using an articulatory suppression paradigm. The results showed that some textual prosody was stored in the articulatory loop despite it being presented visually. In Experiment 3, we examined the effect of textual prosody with readers with hearing loss. The results demonstrated that readers with hearing loss had positive impressions at relatively low presentation speeds when the recorded prosody was presented. The results of this study indicate that the temporal structure is processed regardless of whether the input is visual or auditory. Moreover, these results suggest that textual prosody can enrich reading not only in people with normal hearing but also in those with hearing loss, regardless of acoustic experiences.

Pupil response plays an important role in expression of talker’s affect in an embodied interaction and communication. Focusing on the pupil response in human voice communication, we analyzed the pupil response during utterance, and demonstrated that the pupil enlarges and contracts in synchronization with the burst-pause (ON-OFF) of the utterance. In addition, it was confirmed that the pupil response is effective for enhancing affective conveyance by using the developed system in which an interactive CG character generates the pupil response based on the synchronization with the burst-pause of utterance. In this study, we developed a video communication system with a virtual pupil CG superimposed on the partner’s pupil for enhancing affective conveyance. This system generates a virtual pupil response in synchronization with the talker’s burst-pause of utterance. We performed a communication experiment under the condition that the virtual pupil CG is generated by being synchronized with the talker’s burst-pause of utterance. The effectiveness of the system was demonstrated by means of sensory evaluations of 12 pairs of participants in the video communication.

In human face-to-face conversation, embodied rhythms between speech and body motions such as nodding are mutually synchronized not only between talkers but also in a talker. This synchrony called entrainment in communication generates the sharing of embodiment in human interaction, which plays an important role in human interaction and communication. Focusing on the embodied entrainment, a human-entrained embodied interaction and communication technology has been developed by applying the entrainment mechanism of embodied rhythms of nodding and body movements to physical robots and CG characters in verbal communication. In particular, the technology for automatically generating communicative motions and actions from voice is put to practical use in communication robots and toys, media contents, e-learning and game software for a wide range of applications such as education, nursing and entertainment. The sense of unity and sharing of this technology supports the happy feelings and security, and it is the key to human interface that humans connect. From the viewpoint of human interface in the advanced media society and super aged society, the human-entrained embodied interaction and communication technology and the design theory of involvement are introduced as the basis of human connected Internet of Things (IoT) smart technology.

Recently, dynamic text presentation, such as scrolling text, has been widely used. Texts are often presented at constant timing and speed in conventional dynamic text presentation. However, dynamic text presentation enables visually presented texts to indicate timing information, such as prosody, and the texts might influence the impression of reading. In this paper, we examined this possibility by focusing on the temporal features of digital text in which texts are represented sequentially and with varying speed, duration, and timing. We call this "textual prosody." We used three types of textual prosody: "Recorded," "Shuffled," and "Constant." Recorded prosody is the reproduction of a reader's reading with pauses and varying speed that simulates talking. Shuffled prosody randomly shuffles the time course of speed and pauses in the recorded type. Constant prosody has a constant presentation speed and provides no timing information. Experiment 1 examined the effect of textual prosody on people with normal hearing. Participants read dynamic text with textual prosody silently and rated their impressions of texts. The results showed that readers with normal hearing preferred recorded textual prosody and constant prosody at the optimum speed (6 letters/second). Recorded prosody was also preferred at a low presentation speed. Experiment 2 examined the characteristics of textual prosody using an articulatory suppression paradigm. The results showed that some textual prosody was stored in the articulatory loop despite it being presented visually. In Experiment 3, we examined the effect of textual prosody with readers with hearing loss. The results demonstrated that readers with hearing loss had positive impressions at relatively low presentation speeds when the recorded prosody was presented. The results of this study indicate that the temporal structure is processed regardless of whether the input is visual or auditory. Moreover, these results suggest that textual prosody can enrich reading not only in people with normal hearing but also in those with hearing loss, regardless of acoustic experiences. [ABSTRACT FROM AUTHOR]

In robot teleoperation, a lack of depth information often results in collisions between the robots and obstacles in its path or surroundings. To address this issue, free viewpoint images can greatly benefit the operators in terms of collision avoidance as the operators are able to view the robot's surrounding from the images at arbitrary points, giving them a better depth information. In this paper, a novel free viewpoint image generation system is proposed. One approach to generate free viewpoint images is to use multiple cameras and Light Detection and Ranging (LiDAR). Instead of using the expensive LiDAR, this study utilizes a cost-effective laser rangefinder (LRF) and a characteristic of man-made environments. In other words, we install multiple fisheye cameras and an LRF on a robot. Free viewpoint images are generated under the assumption that walls are perpendicular to the floor. Furthermore, an easy calibration for estimating the poses of the multiple fisheye cameras, the LRF, and the robot model is proposed. Experimental results show that the proposed method can generate free viewpoint images using cameras and an LRF. Finally, the proposed method is primarily implemented using OpenGL Shading Language to utilize a graphics processing unit computation to achieve a real-time processing of the multiple high-resolution images. Supplementary videos and our source code are available at our project page (https://matsuren.github.io/fvp). [ABSTRACT FROM AUTHOR]

Recently, increasing attention has been paid to the health impacts and lifestyle diseases due to the excessive intake of salt and sugar. To address this problem, there have been studies to control taste by the electrical stimulation of food and drink through tableware. However, it is not possible to realize a change of taste during the chewing food and drinking with this approach. Therefore, we consider that a change of taste is also required during chewing in order to achieve satisfied consumption. In this study, we develop an intra-oral interface to effect a taste change continuously by using electrical stimulation. We performed preliminary experiments to measure the sensitivity of the tongue by the position and area of an electrode. Then, we developed an interface to take into account the results of the experiments. We confirmed the effectiveness of the proposed interface through experiments examining the intensity of taste when using the developed interface. Moreover, by having periodic intervals to electrical stimulation by the PWM control, the proposed interface was confirmed to improve the intensity of taste continuously.

Augmented reality (AR) is an emerging technology in which information is superimposed onto the real world directly in front of observers. AR images may behave as distractors because they are inside the observer’s field of view and may cause observers to overlook important information in the real world. This kind of overlooking of events or objects is known as “change blindness.” In change blindness, a distractor may cause someone to overlook a change between an original image and a modified image. In the present study, we investigated whether change blindness occurs when AR is used and whether the AR presentation method influences change blindness. An AR image was presented binocularly or monocularly as a distractor in a typical flicker paradigm. In the binocular presentation, the AR image was presented to the both of the participants’ eyes, so, it was not different from the typical flicker paradigm. By contrast, in the monocular presentation, the AR image was presented to only one eye. Therefore, it was hypothesized that if participants could observe the real-world image through the eye to which the AR image was not presented, change blindness would be avoided because the moment of change itself could be observed. In addition, the luminance of the AR image was expected to influence the ease to observe the real world because the AR image is somewhat translucent. Hence, the AR distractor had three luminance conditions (high, medium, and low), and we compared how many alternations were needed to detect changes among the conditions. Result revealed that more alternations were needed in the binocular presentation and in the high luminance condition. However, in all luminance conditions in the monocular presentation, the number of alternations needed to detect the change was not significantly different from that when the AR distractor was not presented. This result indicates that the monocular presentation could attenuate change blindness, and this might be because the observers’ visual attention is attracted to the location where the change has occurred automatically.

Humans shake hands as a sign of greeting, when they first meet one another, to express a feeling of rapport. For interactions involving a human and a robot, if the robot generates a handshake behavior that is emotionally acceptable to humans, it will lessen any feeling of aversion that the human has when initiating an interaction with the robot. For this reason, in our previous study, a handshake request motion model was proposed, where the robot generated a handshake behavior for the case when the robot actively approached a human. In this model, we studied the motion of a robot actively approaching humans, the handshake request motion from the robot and the start timing of the handshake. However, to promote embodied interaction smoothly, it is necessary for the robot to respond to the handshake requested by humans while still approaching them. Therefore, we developed a handshake robot system that generated a handshake behavior according to the request and response situation while actively approaching a human. First, a handshake response motion model for a handshake with active approach toward a human is proposed, based on an analysis of human handshake behaviors. In this model, the robot generates the response motion while it approaches the human. Furthermore, a switching handshake control with the active approach is developed where the robot generates either the request motion or the response motion, for a handshake according to the behavior of the human. By sensory evaluations, the effectiveness of the robot system using a switching handshake control was demonstrated.

In human interaction and communication, not only verbal messages but also nonverbal behaviors such as facial expressions, body movements, gazes and pupil responses play an important role in expressions of talker’s affect. These expressions encourage to read the emotional cues and to cause the sharing of embodiment and empathy. We focused on the pupil response which is closely related to human affect, and developed an embodied communication system in which an interactive CG character generates the pupil response as well as communicative actions and movements such as nodding and body movements by speech input. In addition, it was confirmed that the pupil response is effective for supporting the embodied interaction and communication using the developed system. In this paper, in order to realize the smooth interaction between human and robot, we developed a pupil response system using hemispherical displays for enhancing affective conveyance. This system looks like robot’s eyeballs and expresses vivid pupil response by speech input. We carried out a sensory evaluation experiment under the condition that the developed system speaks. The results demonstrated that the system effectively enhances affective conveyance.