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概要

研究内容

メンバ

成果

JST 戦略的創造推進事業(CREST)
「共生社会に向けた人間調和型情報技術の構築」採択課題

人の存在を伝達する
携帯型遠隔操作アンドロイドの研究開発

 

成果

書籍の章
Panikos Heracleous, Denis Beautemps, Hiroshi Ishiguro, Norihiro Hagita, "Towards Augmentative Speech Communication", Chapter in Speech and Language Technologies, InTech, Vukovar, Croatia, pp. 303-318, June, 2011.
Abstract: Speech is the most natural form of communication for human beings and is often described as a uni-modal communication channel. However, it is well known that speech is multi-modal in nature and includes the auditive, visual, and tactile modalities (i.e., as in Tadoma communication \citeTADOMA). Other less natural modalities such as electromyographic signal, invisible articulator display, or brain electrical activity or electromagnetic activity can also be considered. Therefore, in situations where audio speech is not available or is corrupted because of disability or adverse environmental condition, people may resort to alternative methods such as augmented speech.
BibTeX:
@InCollection{Heracleous2011,
  Title                    = {Towards Augmentative Speech Communication},
  Author                   = {Panikos Heracleous and Denis Beautemps and Hiroshi Ishiguro and Norihiro Hagita},
  Booktitle                = {Speech and Language Technologies},
  Publisher                = {{InT}ech},
  Year                     = {2011},

  Address                  = {Vukovar, Croatia},
  Editor                   = {Ivo Ipsic},
  Month                    = Jun,
  Pages                    = {303--318},

  Abstract                 = {Speech is the most natural form of communication for human beings and is often described as a uni-modal communication channel. However, it is well known that speech is multi-modal in nature and includes the auditive, visual, and tactile modalities (i.e., as in Tadoma communication \cite{TADOMA}). Other less natural modalities such as electromyographic signal, invisible articulator display, or brain electrical activity or electromagnetic activity can also be considered. Therefore, in situations where audio speech is not available or is corrupted because of disability or adverse environmental condition, people may resort to alternative methods such as augmented speech.},
  File                     = {Heracleous2011.pdf:Heracleous2011.pdf:PDF;InTech-Towards_augmentative_speech_communication.pdf:http\://www.intechopen.com/source/pdfs/15082/InTech-Towards_augmentative_speech_communication.pdf:PDF},
  Grant                    = {CREST},
  Url                      = {http://www.intechopen.com/articles/show/title/towards-augmentative-speech-communication}
}
解説記事
西尾修一, 港隆史, 石黒浩, "アンドロイドによる高齢者のコミュニケーション支援", ITUジャーナル, vol. 45, no. 9, pp. 18-21, September, 2015.
BibTeX:
@Article{西尾修一2015b,
  author   = {西尾修一 and 港隆史 and 石黒浩},
  title    = {アンドロイドによる高齢者のコミュニケーション支援},
  journal  = {ITUジャーナル},
  year     = {2015},
  volume   = {45},
  number   = {9},
  pages    = {18-21},
  month    = SEP,
  url      = {https://www.ituaj.jp/?itujournal=2015_09},
  file     = {Nishio2015b.pdf:pdf/Nishio2015b.pdf:PDF},
}
港隆史, 石黒浩, "エルフォイド:人のミニマルデザインを持つロボット型通信メディア", 日本ロボット学会誌, vol. 32, no. 8, pp. 704-708, October, 2014.
Abstract: 本稿では,人と人を親密に結びつける新たなコミュニケーション技術としてい,人のミニマルデザインを持つロボット型通信メディアについて,著者らが開発してきた「テレノイド」,「エルフォイド」,「ハグビー」の研究を紹介しながら,解説する.
BibTeX:
@Article{港隆史2014,
  author   = {港隆史 and 石黒浩},
  title    = {エルフォイド:人のミニマルデザインを持つロボット型通信メディア},
  journal  = {日本ロボット学会誌},
  year     = {2014},
  volume   = {32},
  number   = {8},
  pages    = {704-708},
  month    = Oct,
  abstract = {本稿では,人と人を親密に結びつける新たなコミュニケーション技術としてい,人のミニマルデザインを持つロボット型通信メディアについて,著者らが開発してきた「テレノイド」,「エルフォイド」,「ハグビー」の研究を紹介しながら,解説する.},
  etitle   = {Elfoid: A Robotic Communication Media with a Minimalistic Human Design},
  file     = {港隆史2014a.pdf:pdf/港隆史2014a.pdf:PDF;::PDF},
}
石黒浩, 港隆史, 西尾修一, "人としてのミニマルデザインを持つ遠隔操作型ロボット", 情報処理, vol. 54, no. 7, pp. 694-697, July, 2013.
BibTeX:
@Article{石黒浩2013,
  author   = {石黒浩 and 港隆史 and 西尾修一},
  title    = {人としてのミニマルデザインを持つ遠隔操作型ロボット},
  journal  = {情報処理},
  year     = {2013},
  volume   = {54},
  number   = {7},
  pages    = {694--697},
  month    = Jul,
  day      = {15},
  url      = {ttps://ipsj.ixsq.nii.ac.jp/ej/?action=pages_view_main&active_action=repository_view_main_item_detail&item_id=92591&item_no=1&page_id=13&block_id=8},
  etitle   = {Tele-operated Robot with a Minimal Design of Human},
  file     = {:pdf/石黒浩2013.pdf:PDF},
}
山本文香, 堀磨伊也, 岩井儀雄, 石黒浩, "事例データを用いた移動物体領域の抽出", 画像ラボ, June, 2013.
BibTeX:
@ARTICLE{山本文香2013,
  author = {山本文香 and 堀磨伊也 and 岩井儀雄 and 石黒浩},
  title = {事例データを用いた移動物体領域の抽出},
  journal = {画像ラボ},
  year = {2013},
  month = Jun,
}
西尾修一, 山崎竜二, 石黒浩, "遠隔操作アンドロイドを用いた認知症高齢者のコミュニケーション支援", システム/制御/情報, vol. 57, no. 1, pp. 31-36, January, 2013.
BibTeX:
@Article{西尾修一2012,
  author          = {西尾修一 and 山崎竜二 and 石黒浩},
  title           = {遠隔操作アンドロイドを用いた認知症高齢者のコミュニケーション支援},
  journal         = {システム/制御/情報},
  year            = {2013},
  volume          = {57},
  number          = {1},
  pages           = {31--36},
  month           = Jan,
  etitle          = {Communication Support for Demented Elderies using Teleoperated Android},
  file            = {西尾修一2012.pdf:pdf/西尾修一2012.pdf:PDF},
  keywords        = {dementia; elderly care; teleoperated android; communication support},
}
Kohei Ogawa, Shuichi Nishio, Takashi Minato, Hiroshi Ishiguro, "Android Robots as Tele-presence Media", Biomedical Engineering and Cognitive Neuroscience for Healthcare: Interdisciplinary Applications, Medical Information Science Reference, Pennsylvania, USA, pp. 54-63, September, 2012.
Abstract: In this chapter, the authors describe two human-like android robots, known as Geminoid and Telenoid, which they have developed. Geminoid was developed for two reasons: (1) to explore how humans react or respond the android during face-to-face communication and (2) to investigate the advantages of the android as a communication medium compared to traditional communication media, such as the telephone or the television conference system. The authors conducted two experiments: the first was targeted to an interlocutor of Geminoid, and the second was targeted to an operator of it. The results of these experiments showed that Geminoid could emulate a human's presence in a natural-conversation situation. Additionally, Geminoid could be as persuasive to the interlocutor as a human. The operators of Geminoid were also influenced by the android: during operation, they felt as if their bodies were one and the same with the Geminoid body. The latest challenge has been to develop Telenoid, an android with a more abstract appearance than Geminoid, which looks and behaves as a minimalistic human. At first glance, Telenoid resembles a human; however, its appearance can be interpreted as any sex or any age. Two field experiments were conducted with Telenoid. The results of these experiments showed that Telenoid could be an acceptable communication medium for both young and elderly people. In particular, physical interaction, such as a hug, positively affected the experience of communicating with Telenoid.
BibTeX:
@Article{Ogawa2012b,
  author    = {Kohei Ogawa and Shuichi Nishio and Takashi Minato and Hiroshi Ishiguro},
  title     = {Android Robots as Tele-presence Media},
  journal   = {Biomedical Engineering and Cognitive Neuroscience for Healthcare: Interdisciplinary Applications},
  year      = {2012},
  pages     = {54-63},
  month     = Sep,
  abstract  = {In this chapter, the authors describe two human-like android robots, known as Geminoid and Telenoid, which they have developed. Geminoid was developed for two reasons: (1) to explore how humans react or respond the android during face-to-face communication and (2) to investigate the advantages of the android as a communication medium compared to traditional communication media, such as the telephone or the television conference system. The authors conducted two experiments: the first was targeted to an interlocutor of Geminoid, and the second was targeted to an operator of it. The results of these experiments showed that Geminoid could emulate a human's presence in a natural-conversation situation. Additionally, Geminoid could be as persuasive to the interlocutor as a human. The operators of Geminoid were also influenced by the android: during operation, they felt as if their bodies were one and the same with the Geminoid body. The latest challenge has been to develop Telenoid, an android with a more abstract appearance than Geminoid, which looks and behaves as a minimalistic human. At first glance, Telenoid resembles a human; however, its appearance can be interpreted as any sex or any age. Two field experiments were conducted with Telenoid. The results of these experiments showed that Telenoid could be an acceptable communication medium for both young and elderly people. In particular, physical interaction, such as a hug, positively affected the experience of communicating with Telenoid.},
  url       = {http://www.igi-global.com/chapter/android-robots-telepresence-media/69905},
  doi       = {10.4018/978-1-4666-2113-8.ch006},
  address   = {Pennsylvania, USA},
  chapter   = {6},
  editor    = {Jinglong Wu},
  file      = {Ogawa2012b.pdf:Ogawa2012b.pdf:PDF},
  isbn      = {9781466621138},
  publisher = {Medical Information Science Reference},
}
招待講演
Hiroshi Ishiguro, "Minimum design of interactive robots", In International Symposium on Pedagogical Machines CREST 国際シンポジウム-「ペダゴジカル・マシンの探求」, 東京, March, 2015.
BibTeX:
@Inproceedings{Ishiguro2015,
  author    = {Hiroshi Ishiguro},
  title     = {Minimum design of interactive robots},
  booktitle = {International Symposium on Pedagogical Machines CREST 国際シンポジウム-「ペダゴジカル・マシンの探求」},
  year      = {2015},
  address   = {東京},
  month     = Mar,
  file      = {Ishiguro2015a.pdf:pdf/Ishiguro2015a.pdf:PDF},
}
Shuichi Nishio, "Teleoperated android robots - Fundamentals, applications and future", In China International Advanced Manufacturing Conference 2014, Mianyang, China, October, 2014.
Abstract: I will introduce our various experiences on teleoperated android robots, how their are manufactured, scientific findings, applications to real world issues and how they will be used in our society in future.
BibTeX:
@Inproceedings{Nishio2014a,
  author    = {Shuichi Nishio},
  title     = {Teleoperated android robots - Fundamentals, applications and future},
  booktitle = {China International Advanced Manufacturing Conference 2014},
  year      = {2014},
  address   = {Mianyang, China},
  month     = Oct,
  abstract  = {I will introduce our various experiences on teleoperated android robots, how their are manufactured, scientific findings, applications to real world issues and how they will be used in our society in future.},
}
西尾修一, "遠隔操作アンドロイドを通じた他者の認識", 第16回日本感性工学会大会, 東京, September, 2014.
BibTeX:
@Inproceedings{西尾修一,
  author    = {西尾修一},
  title     = {遠隔操作アンドロイドを通じた他者の認識},
  booktitle = {第16回日本感性工学会大会},
  year      = {2014},
  address   = {東京},
  month     = SEP,
  file      = {Nishio2014a.pdf:pdf/Nishio2014a.pdf:PDF},
}
Hiroshi Ishiguro, "Android Philosophy", In Sociable Robots and the Future of Social Relations: Proceedings of Robo-Philosophy 2014, IOS Press, vol. 273, Aarhus, Denmark, pp. 3, August, 2014.
BibTeX:
@Inproceedings{Ishiguro2014b,
  author    = {Hiroshi Ishiguro},
  title     = {Android Philosophy},
  booktitle = {Sociable Robots and the Future of Social Relations: Proceedings of Robo-Philosophy 2014},
  year      = {2014},
  editor    = {Johanna Seibt and Raul Hakli and Marco N\orskov},
  volume    = {273},
  pages     = {3},
  address   = {Aarhus, Denmark},
  month     = Aug,
  publisher = {IOS Press},
  doi       = {10.3233/978-1-61499-480-0-3},
  url       = {http://ebooks.iospress.nl/volumearticle/38527},
}
石黒浩, "アンドロイドと生きる未来 ~技術と芸術の融合~", 国立情報学研究所市民講座 未来を紡ぐ情報学, 学術総合センター. 東京, July, 2014.
Abstract: 国立情報学研究所の研究者が「情報学」の先端を一般向けに解説するプログラムにおいて、講演を行う。国立情報学研究所の客員教授として参加。
BibTeX:
@Inproceedings{石黒浩2014j,
  author    = {石黒浩},
  title     = {アンドロイドと生きる未来 ~技術と芸術の融合~},
  booktitle = {国立情報学研究所市民講座 未来を紡ぐ情報学},
  year      = {2014},
  address   = {学術総合センター. 東京},
  month     = JUL,
  url       = {http://www.nii.ac.jp/event/shimin/},
  abstract  = {国立情報学研究所の研究者が「情報学」の先端を一般向けに解説するプログラムにおいて、講演を行う。国立情報学研究所の客員教授として参加。},
  file      = {石黒浩2014j.pdf:pdf/石黒浩2014j.pdf:PDF},
}
石黒浩, "ロボットと脳", 応用脳科学コンソーシアム2014年度キックオフミーティング, 東京, June, 2014.
BibTeX:
@Inproceedings{石黒浩2014,
  author    = {石黒浩},
  title     = {ロボットと脳},
  booktitle = {応用脳科学コンソーシアム2014年度キックオフミーティング},
  year      = {2014},
  address   = {東京},
  month     = Jun,
}
石黒浩, "ロボットと未来社会", 第31回吹田産業フェア, 大阪, May, 2014.
BibTeX:
@Inproceedings{石黒浩2014f,
  author    = {石黒浩},
  title     = {ロボットと未来社会},
  booktitle = {第31回吹田産業フェア},
  year      = {2014},
  address   = {大阪},
  month     = May,
}
Hiroshi Ishiguro, "Telenoid : A Teleoperated Android with a Minimalistic Human Design", In Robo Business Europe, Billund, Denmark, May, 2014.
BibTeX:
@Inproceedings{Ishiguro2014a,
  author    = {Hiroshi Ishiguro},
  title     = {Telenoid : A Teleoperated Android with a Minimalistic Human Design},
  booktitle = {Robo Business Europe},
  year      = {2014},
  address   = {Billund, Denmark},
  month     = May,
  day       = {26-28},
}
Hiroshi Ishiguro, "The Future Life Supported by Robotic Avatars", In The Global Mobile Internet Conference Beijing, Beijing, China, May, 2014.
BibTeX:
@Inproceedings{Ishiguro2014,
  author    = {Hiroshi Ishiguro},
  title     = {The Future Life Supported by Robotic Avatars},
  booktitle = {The Global Mobile Internet Conference Beijing},
  year      = {2014},
  address   = {Beijing, China},
  month     = May,
  day       = {5-6},
  file      = {ishiguro2014a.pdf:pdf/ishiguro2014a.pdf:PDF},
}
石黒浩, "人間型ロボットと未来社会", 電気設備学会関西支部総会, 大阪, May, 2014.
BibTeX:
@Inproceedings{石黒浩2014e,
  author    = {石黒浩},
  title     = {人間型ロボットと未来社会},
  booktitle = {電気設備学会関西支部総会},
  year      = {2014},
  address   = {大阪},
  month     = May,
}
石黒浩, "人を知るためのロボット研究", 日本大阪大学石黒浩教授学術報告会, 中国, April, 2014.
BibTeX:
@Inproceedings{石黒浩2014d,
  author    = {石黒浩},
  title     = {人を知るためのロボット研究},
  booktitle = {日本大阪大学石黒浩教授学術報告会},
  year      = {2014},
  address   = {中国},
  month     = Apr,
  day       = {15},
}
石黒浩, "人と関わるロボットの実現", ニコニコ超会議3, 千葉, April, 2014.
BibTeX:
@Inproceedings{石黒浩2014c,
  author    = {石黒浩},
  title     = {人と関わるロボットの実現},
  booktitle = {ニコニコ超会議3},
  year      = {2014},
  address   = {千葉},
  month     = Apr,
  day       = {26-27},
}
Ryuji Yamazaki, "Teleoperated Android in Elderly Care", In Patient@home seminar, Denmark, February, 2014.
Abstract: We explore the potential of teleoperated androids, which are embodied telecommunication media with humanlike appearances. By conducting pilot studies in Japan and Denmark, we investigate how Telenoid, a teleoperated android designed as a minimalistic human, affect people in the real world. As populations age, the isolation issue of senior citizens is one of the leading issues in healthcare promotion. In order to solve the isolation issue resulting in geriatric syndromes and improve seniors' well-being by enhancing social connectedness, we propose to employ Telenoid that might facilitate their communication with others. By introducing Telenoid into care facilities and senior's homes, we found various influences on the elderly with or without dementia. Most senior participants had positive impressions of Telenoid from the very beginning, even though, ironically, their caretaker had a negative one. Especially the elderly with dementia showed strong attachment to Telenoid and created its identity imaginatively and interactively. In a long-term study, we also found that demented elderly increasingly showed prosocial behaviors to Telenoid and it encouraged them to be more communicative and open. With a focus on elderly care, this presentation will introduce our field trials and discuss the potential of interactions between the android robot and human users for further research.
BibTeX:
@Inproceedings{Yamazaki2014b,
  author    = {Ryuji Yamazaki},
  title     = {Teleoperated Android in Elderly Care},
  booktitle = {Patient@home seminar},
  year      = {2014},
  address   = {Denmark},
  month     = Feb,
  day       = {5},
  abstract  = {We explore the potential of teleoperated androids, which are embodied telecommunication media with humanlike appearances. By conducting pilot studies in Japan and Denmark, we investigate how Telenoid, a teleoperated android designed as a minimalistic human, affect people in the real world. As populations age, the isolation issue of senior citizens is one of the leading issues in healthcare promotion. In order to solve the isolation issue resulting in geriatric syndromes and improve seniors' well-being by enhancing social connectedness, we propose to employ Telenoid that might facilitate their communication with others. By introducing Telenoid into care facilities and senior's homes, we found various influences on the elderly with or without dementia. Most senior participants had positive impressions of Telenoid from the very beginning, even though, ironically, their caretaker had a negative one. Especially the elderly with dementia showed strong attachment to Telenoid and created its identity imaginatively and interactively. In a long-term study, we also found that demented elderly increasingly showed prosocial behaviors to Telenoid and it encouraged them to be more communicative and open. With a focus on elderly care, this presentation will introduce our field trials and discuss the potential of interactions between the android robot and human users for further research.},
}
Shuichi Nishio, "The Impact of the Care‐Robot ‘Telenoid' on Elderly Persons in Japan", In International Conference : Going Beyond the Laboratory - Ethical and Societal Challenges for Robotics, Delmenhorst, Germany, February, 2014.
BibTeX:
@Inproceedings{Nishio2014,
  author    = {Shuichi Nishio},
  title     = {The Impact of the Care‐Robot ‘Telenoid' on Elderly Persons in Japan},
  booktitle = {International Conference : Going Beyond the Laboratory - Ethical and Societal Challenges for Robotics},
  year      = {2014},
  address   = {Delmenhorst, Germany},
  month     = Feb,
  day       = {13-15},
}
石黒浩, "遠隔操作型ロボットと未来社会", JUAS FUTURE ASPECT 2014 「ワクワクする未来へ これからの社会をデザインしよう ~2020年、そしてその先へ~」, 東京, January, 2014.
BibTeX:
@Inproceedings{石黒浩2014a,
  author    = {石黒浩},
  title     = {遠隔操作型ロボットと未来社会},
  booktitle = {JUAS FUTURE ASPECT 2014 「ワクワクする未来へ これからの社会をデザインしよう ~2020年、そしてその先へ~」},
  year      = {2014},
  address   = {東京},
  month     = Jan,
  day       = {30},
}
石黒浩, "人を知るためのロボット研究", 第24回日本頭頸部外科学会総会ならびに学術講演会, 香川, January, 2014.
BibTeX:
@Inproceedings{石黒浩2014b,
  author    = {石黒浩},
  title     = {人を知るためのロボット研究},
  booktitle = {第24回日本頭頸部外科学会総会ならびに学術講演会},
  year      = {2014},
  address   = {香川},
  month     = Jan,
  day       = {30},
}
石黒浩, "子どもと類人猿とロボットにおける共感と協調と「心の理論」", 日本心理学会 第78回大会, 2014.
BibTeX:
@Inproceedings{石黒浩2014g,
  author    = {石黒浩},
  title     = {子どもと類人猿とロボットにおける共感と協調と「心の理論」},
  booktitle = {日本心理学会 第78回大会},
  year      = {2014},
}
石黒浩, "感情の表現-ロボットによる感情の表現と想起-", 日本情動学会第3回大会, 京都, December, 2013.
BibTeX:
@Inproceedings{石黒浩2013h,
  author    = {石黒浩},
  title     = {感情の表現-ロボットによる感情の表現と想起-},
  booktitle = {日本情動学会第3回大会},
  year      = {2013},
  address   = {京都},
  month     = Dec,
  day       = {7},
}
港隆史, 中西惇也, 桑村海光, 西尾修一, 石黒浩, "ロボットメディアとの身体的相互作用による感情喚起", 信学技報(クラウドネットワークロボット研究会), no. CNR2013-23, 東京, pp. 13-18, December, 2013.
Abstract: 本研究では,ユーザの感情を喚起することでコミュニケーションを支援するメディアの実現に向けて,ロボットメディアとの相互作用における身体的状態が感情変化をもたらすメカニズムを明らかにする研究に着手している.これまでに,人型ロボットメディアを抱擁しながら対話することが,対話相手への関心や好意を高めることを確かめる実験をいくつか行ってきたので,本報告ではそれらの実験を紹介する.
BibTeX:
@Inproceedings{港隆史2013,
  author          = {港隆史 and 中西惇也 and 桑村海光 and 西尾修一 and 石黒浩},
  title           = {ロボットメディアとの身体的相互作用による感情喚起},
  booktitle       = {信学技報(クラウドネットワークロボット研究会)},
  year            = {2013},
  number          = {CNR2013-23},
  pages           = {13-18},
  address         = {東京},
  month           = {Dec},
  day             = {20},
  url             = {http://www.ieice.org/ken/program/index.php?tgs_regid=5802ef7c9533d904b64bd7870b994f877e54bc26c06845254e7fff21647f7176&tgid=IEICE-CNR&lang=},
  etitle          = {Emotional Arousal by Physical Interaction with Robotic Media},
  abstract        = {本研究では,ユーザの感情を喚起することでコミュニケーションを支援するメディアの実現に向けて,ロボットメディアとの相互作用における身体的状態が感情変化をもたらすメカニズムを明らかにする研究に着手している.これまでに,人型ロボットメディアを抱擁しながら対話することが,対話相手への関心や好意を高めることを確かめる実験をいくつか行ってきたので,本報告ではそれらの実験を紹介する.},
  eabstract       = {We are studying a mechanism of an emotional arousal owing to person's bodily state (e.g., body posture and motion) in human-robotic media interaction towards a development of robotic media to support users' communication by controlling their emotion. This paper shows several experimental results in which persons show an interest or affection in their communication partner by talking while hugging a robotic media.},
  file            = {港隆史2013.pdf:pdf/港隆史2013.pdf:PDF},
  funding         = {{CREST}},
  keywords        = {ロボットメディア; 身体的相互作用; 感情喚起; 抱擁},
}
住岡英信, "ホルモンの評価事例:抱き枕型通信メディア「ハグビー」によるストレス軽減", 第1回コンフォータブルブレイン研究会, 東京, October, 2013.
BibTeX:
@Inproceedings{住岡英信2013b,
  author    = {住岡英信},
  title     = {ホルモンの評価事例:抱き枕型通信メディア「ハグビー」によるストレス軽減},
  booktitle = {第1回コンフォータブルブレイン研究会},
  year      = {2013},
  address   = {東京},
  month     = Oct,
  day       = {16},
  file      = {住岡英信2013b.pdf:pdf/住岡英信2013b.pdf:PDF},
}
石黒浩, "遠隔操作型ロボットとロボット社会", 組込みシステムシンポジウム2013, 東京, October, 2013.
BibTeX:
@Inproceedings{石黒浩2013c,
  author       = {石黒浩},
  title        = {遠隔操作型ロボットとロボット社会},
  booktitle    = {組込みシステムシンポジウム2013},
  year         = {2013},
  address      = {東京},
  month        = Oct,
  organization = {情報処理学会 組込みシステム研究会},
}
石黒浩, "知能ロボット技術の将来", 日本食品工業倶楽部会 大阪例会, 大阪, October, 2013.
BibTeX:
@Inproceedings{石黒浩2013f,
  author    = {石黒浩},
  title     = {知能ロボット技術の将来},
  booktitle = {日本食品工業倶楽部会 大阪例会},
  year      = {2013},
  address   = {大阪},
  month     = Oct,
  day       = {17},
}
石黒浩, "ものとヒトの関係", コンフォータブルブレイン研究会, 東京, October, 2013.
BibTeX:
@Inproceedings{石黒浩2013g,
  author    = {石黒浩},
  title     = {ものとヒトの関係},
  booktitle = {コンフォータブルブレイン研究会},
  year      = {2013},
  address   = {東京},
  month     = Oct,
  day       = {16},
}
Hiroshi Ishiguro, "Studies on very humanlike robots", In International Conference on Instrumentation, Control, Information Technology and System Integration, Aichi, September, 2013.
Abstract: Studies on interactive robots and androids are not just in robotics but they are also closely coupled in cognitive science and neuroscience. It is a research area for investigating fundamental issues of interface and media technology. This talks introduce the series of androids developed in both Osaka University and ATR and propose a new information medium realized based on the studies.
BibTeX:
@Inproceedings{Ishiguro2013a,
  author    = {Hiroshi Ishiguro},
  title     = {Studies on very humanlike robots},
  booktitle = {International Conference on Instrumentation, Control, Information Technology and System Integration},
  year      = {2013},
  address   = {Aichi},
  month     = Sep,
  day       = {14},
  abstract  = {Studies on interactive robots and androids are not just in robotics but they are also closely coupled in cognitive science and neuroscience. It is a research area for investigating fundamental issues of interface and media technology. This talks introduce the series of androids developed in both Osaka University and ATR and propose a new information medium realized based on the studies.},
}
石黒浩, "ヒューマノイド・アンドロイド研究と未来社会", 第2回KECテクノフォーラム, 大阪, September, 2013.
Abstract: 工場の外で人と関わりながら、様々なサービスを提供するロボットの実用は既にアメリカを中心に始まりつつある。講演者はこの人と関わるロボットの研究開発において世界を先導してきた。本講演では、人と関わるロボットの現状の研究開発を紹介するとともに、今後我々がどのような未来社会を迎えるかを議論する。
BibTeX:
@Inproceedings{石黒浩2013d,
  author       = {石黒浩},
  title        = {ヒューマノイド・アンドロイド研究と未来社会},
  booktitle    = {第2回KECテクノフォーラム},
  year         = {2013},
  address      = {大阪},
  month        = Sep,
  day          = {17},
  abstract     = {工場の外で人と関わりながら、様々なサービスを提供するロボットの実用は既にアメリカを中心に始まりつつある。講演者はこの人と関わるロボットの研究開発において世界を先導してきた。本講演では、人と関わるロボットの現状の研究開発を紹介するとともに、今後我々がどのような未来社会を迎えるかを議論する。},
  organization = {一般社団法人KEC関西電子工業振興センター研究専門委員会},
}
Hiroshi Ishiguro, "The Future Life Supported by Robotic Avatars", In Global Future 2045 International Congress, NY, USA, June, 2013.
Abstract: Robotic avatars or tele-operated robots are already available and working in practical situations, especially in USA. The robot society has started. In our future life we are going to use various tele-operated and autonomous robots. The speaker is taking the leadership for developing tele-operated robots and androids. The tele-opereated android copy of himself is well-known in the world. By means of robots and androids, he has studied the cognitive and social aspects of human-robot interaction. Thus, he has contributed to establishing this research area. In this talk, he will introduce the series of robots and androids developed at the Intelligent Robot Laboratory of the Department of Systems Innovation of Osaka University and at the Hiroshi Ishiguro Laboratory of the Advanced Telecommunications Research Institute International (ATR).
BibTeX:
@Inproceedings{Ishiguro2013,
  author    = {Hiroshi Ishiguro},
  title     = {The Future Life Supported by Robotic Avatars},
  booktitle = {Global Future 2045 International Congress},
  year      = {2013},
  address   = {NY, USA},
  month     = Jun,
  abstract  = {Robotic avatars or tele-operated robots are already available and working in practical situations, especially in USA. The robot society has started. In our future life we are going to use various tele-operated and autonomous robots. The speaker is taking the leadership for developing tele-operated robots and androids. The tele-opereated android copy of himself is well-known in the world. By means of robots and androids, he has studied the cognitive and social aspects of human-robot interaction. Thus, he has contributed to establishing this research area. In this talk, he will introduce the series of robots and androids developed at the Intelligent Robot Laboratory of the Department of Systems Innovation of Osaka University and at the Hiroshi Ishiguro Laboratory of the Advanced Telecommunications Research Institute International (ATR).},
}
石黒浩, "Feel the Telenoid - 人型メディアが人間とビジネスを変える", DMNワークショップ2013, 東京, May, 2013.
BibTeX:
@Inproceedings{石黒浩2013a,
  author    = {石黒浩},
  title     = {Feel the Telenoid - 人型メディアが人間とビジネスを変える},
  booktitle = {{DMN}ワークショップ2013},
  year      = {2013},
  address   = {東京},
  month     = May,
  day       = {30},
}
山崎 竜二, "遠隔操作型ロボットを介した コミュニケーションの可能性:石川県宮竹小学校の授業を通して考える", 第30回臨床哲学研究会, 大阪, October, 2012.
BibTeX:
@Inproceedings{山崎竜二2012,
  author    = {山崎 竜二},
  title     = {遠隔操作型ロボットを介した コミュニケーションの可能性:石川県宮竹小学校の授業を通して考える},
  booktitle = {第30回臨床哲学研究会},
  year      = {2012},
  address   = {大阪},
  month     = Oct,
  day       = {21},
  file      = {山崎竜二2012.pdf:pdf/山崎竜二2012.pdf:PDF},
}
Hideyuki Nakanishi, "Robotic Social Telepresence", In Anglo-Japanese Seminar on Technology and Social Interaction, London, UK, September, 2011.
BibTeX:
@INPROCEEDINGS{Nakanishi2011a,
  author = {Hideyuki Nakanishi},
  title = {Robotic Social Telepresence},
  booktitle = {Anglo-Japanese Seminar on Technology and Social Interaction},
  year = {2011},
  address = {London, UK},
  month = Sep,
}
山崎 竜二, "認知症高齢者の地域住居(aging in place)と情報機器", 情報処理学会関西支部大会, 大阪, September, 2011.
Abstract: 日本の高齢化は世界に例を見ない速度で進行し、空前の 長寿社会が到来している。高齢化の進展に伴って認知症を 抱える人も急増し、認知症高齢者が住み慣れた地域住居で 暮らす(aging in place)仕組みをどのように構築できるの かということが切迫した課題となる。認知症高齢者の独居 生活にも対応できるケアシステムが必要とされており、孤 立の果てに死にまで至る問題を未然に防ぐことが重要性を 増している。高齢者の孤立化の問題が深刻化する現況に対 して認知症ケアのシステムを構築するため、情報通信技術 を活用するアプローチがどのような問題に直面し、新たな 役割を果たしうるのかを検討する。
BibTeX:
@Inproceedings{山崎竜二2011a,
  author          = {山崎 竜二},
  title           = {認知症高齢者の地域住居(aging in place)と情報機器},
  booktitle       = {情報処理学会関西支部大会},
  year            = {2011},
  address         = {大阪},
  month           = Sep,
  day             = {22},
  etitle          = {Aging in Place and Assistive Technology for the Elderly with Dementia},
  abstract        = {日本の高齢化は世界に例を見ない速度で進行し、空前の 長寿社会が到来している。高齢化の進展に伴って認知症を 抱える人も急増し、認知症高齢者が住み慣れた地域住居で 暮らす(aging in place)仕組みをどのように構築できるの かということが切迫した課題となる。認知症高齢者の独居 生活にも対応できるケアシステムが必要とされており、孤 立の果てに死にまで至る問題を未然に防ぐことが重要性を 増している。高齢者の孤立化の問題が深刻化する現況に対 して認知症ケアのシステムを構築するため、情報通信技術 を活用するアプローチがどのような問題に直面し、新たな 役割を果たしうるのかを検討する。},
  file            = {山崎竜二2011a.pdf:山崎竜二2011a.pdf:PDF},
}
論文
船山智, 港隆史, 石井カルロス寿憲, 石黒浩, "操作者の笑い声に基づく遠隔操作型アンドロイドの笑い動作生成", 情報処理学会論文誌, vol. 58, no. 4, pp. 932-944, April, 2017.
Abstract: 遠隔操作型アンドロイドは強い存在感を伝達するコミュニケーションメディアであるが,動作自由度の制約により人間と同様に動くことができず,人の動作を複製する遠隔操作方法では不自然な振る舞いとなることがある.本論文ではコミュニケーション中の重要な要素である“笑い"に注目し,限られた自由度の中で動きの誇張によって自然に見える笑い動作を設計し,その有効性を検証した.また,操作者の笑い声を認識するシステムを開発し,操作者の笑い声に合わせて自動的に笑い動作を付加する遠隔操作システムの実用性を検証した.
BibTeX:
@Article{船山智2017,
  author          = {船山智 and 港隆史 and 石井カルロス寿憲 and 石黒浩},
  title           = {操作者の笑い声に基づく遠隔操作型アンドロイドの笑い動作生成},
  journal         = {情報処理学会論文誌},
  year            = {2017},
  volume          = {58},
  number          = {4},
  pages           = {932-944},
  month           = Apr,
  abstract        = {遠隔操作型アンドロイドは強い存在感を伝達するコミュニケーションメディアであるが,動作自由度の制約により人間と同様に動くことができず,人の動作を複製する遠隔操作方法では不自然な振る舞いとなることがある.本論文ではコミュニケーション中の重要な要素である“笑い"に注目し,限られた自由度の中で動きの誇張によって自然に見える笑い動作を設計し,その有効性を検証した.また,操作者の笑い声を認識するシステムを開発し,操作者の笑い声に合わせて自動的に笑い動作を付加する遠隔操作システムの実用性を検証した.},
  url             = {http://www.ipsj.or.jp/journal/},
  etitle          = {Speech Driven Laughter Generation of Teleoperated Android},
  eabstract       = {Teleoperated androids are developed as communication media which can share strong human presence. However, android cannot move like humans since the degrees of freedom are limited. Therefore, a behavior of sndroid is not always natural. In this paper, we focus on "laughter", that is an automatic laughtergeneration system of teleoperated android. Prychological experiments verified the effectiveness of proposed method, and also the results suggest the exaggeration should depend on the appearance of android.},
  file            = {船山智2017.pdf:pdf/船山智2017.pdf:PDF},
  keywords        = {Android, Teleoperation, Laughter, Exaggeration, Laughter detection},
}
Jakub Zlotowski, Hidenobu Sumioka, Shuichi Nishio, Dylan F. Glas, Christoph Bartneck, Hiroshi Ishiguro, "Appearance of a Robot Affects the Impact of its Behaviour on Perceived Trustworthiness and Empathy", Paladyn, Journal of Behavioral Robotics, vol. 7, no. 1, pp. 55-66, December, 2016.
Abstract: An increasing number of companion robots started reaching the public in the recent years. These robots vary in their appearance and behavior. Since these two factors can have an impact on lasting human-robot relationships, it is important to understand their effect for companion robots. We have conducted an experiment that evaluated the impact of a robot's appearance and its behaviour in repeated interactions on its perceived empathy, trustworthiness and anxiety experienced by a human. The results indicate that a highly humanlike robot is perceived as less trustworthy and empathic than a more machinelike robot. Moreover, negative behaviour of a machinelike robot reduces its trustworthiness and perceived empathy stronger than for highly humanlike robot. In addition, we found that a robot which disapproves of what a human says can induce anxiety felt towards its communication capabilities. Our findings suggest that more machinelike robots can be more suitable as companions than highly humanlike robots. Moreover, a robot disagreeing with a human interaction partner should be able to provide feedback on its understanding of the partner's message in order to reduce her anxiety.
BibTeX:
@Article{Zlotowski2016a,
  author   = {Jakub Zlotowski and Hidenobu Sumioka and Shuichi Nishio and Dylan F. Glas and Christoph Bartneck and Hiroshi Ishiguro},
  title    = {Appearance of a Robot Affects the Impact of its Behaviour on Perceived Trustworthiness and Empathy},
  journal  = {Paladyn, Journal of Behavioral Robotics},
  year     = {2016},
  volume   = {7},
  number   = {1},
  pages    = {55-66},
  month    = Dec,
  abstract = {An increasing number of companion robots started reaching the public in the recent years. These robots vary in their appearance and behavior. Since these two factors can have an impact on lasting human-robot relationships, it is important to understand their effect for companion robots. We have conducted an experiment that evaluated the impact of a robot's appearance and its behaviour in repeated interactions on its perceived empathy, trustworthiness and anxiety experienced by a human. The results indicate that a highly humanlike robot is perceived as less trustworthy and empathic than a more machinelike robot. Moreover, negative behaviour of a machinelike robot reduces its trustworthiness and perceived empathy stronger than for highly humanlike robot. In addition, we found that a robot which disapproves of what a human says can induce anxiety felt towards its communication capabilities. Our findings suggest that more machinelike robots can be more suitable as companions than highly humanlike robots. Moreover, a robot disagreeing with a human interaction partner should be able to provide feedback on its understanding of the partner's message in order to reduce her anxiety.},
  url      = {https://www.degruyter.com/view/j/pjbr.2016.7.issue-1/pjbr-2016-0005/pjbr-2016-0005.xml},
  file     = {Zlotowski2016a.pdf:pdf/Zlotowski2016a.pdf:PDF},
}
Junya Nakanishi, Hidenobu Sumioka, Hiroshi Ishiguro, "Impact of Mediated Intimate Interaction on Education: A Huggable Communication Medium that Encourages Listening", Frontiers in Psychology, section Human-Media Interaction, vol. 7, no. 510, pp. 1-10, April, 2016.
Abstract: In this paper, we propose the introduction of human-like communication media as a proxy for teachers to support the listening of children in school education. Three case studies are presented on storytime fieldwork for children using our huggable communication medium called Hugvie, through which children are encouraged to concentrate on listening by intimate interaction between children and storytellers. We investigate the effect of Hugvie on children's listening and how they and their teachers react to it through observations and interviews. Our results suggest that Hugvie increased the number of children who concentrated on listening to a story and was welcomed by almost all the children and educators. We also discuss improvement and research issues to introduce huggable communication media into classrooms, potential applications, and their contributions to other education situations through improved listening.
BibTeX:
@Article{Nakanishi2016,
  author   = {Junya Nakanishi and Hidenobu Sumioka and Hiroshi Ishiguro},
  title    = {Impact of Mediated Intimate Interaction on Education: A Huggable Communication Medium that Encourages Listening},
  journal  = {Frontiers in Psychology, section Human-Media Interaction},
  year     = {2016},
  volume   = {7},
  number   = {510},
  pages    = {1-10},
  month    = Apr,
  abstract = {In this paper, we propose the introduction of human-like communication media as a proxy for teachers to support the listening of children in school education. Three case studies are presented on storytime fieldwork for children using our huggable communication medium called Hugvie, through which children are encouraged to concentrate on listening by intimate interaction between children and storytellers. We investigate the effect of Hugvie on children's listening and how they and their teachers react to it through observations and interviews. Our results suggest that Hugvie increased the number of children who concentrated on listening to a story and was welcomed by almost all the children and educators. We also discuss improvement and research issues to introduce huggable communication media into classrooms, potential applications, and their contributions to other education situations through improved listening.},
  day      = {19},
  url      = {http://journal.frontiersin.org/article/10.3389/fpsyg.2016.00510},
  doi      = {10.3389/fpsyg.2016.00510},
  file     = {Nakanishi2016.pdf:pdf/Nakanishi2016.pdf:PDF},
}
境くりま, 石井カルロス寿憲, 港隆史, 石黒浩, "音声に対応する頭部動作のオンライン生成システムと遠隔操作における効果", 電子情報通信学会和文論文誌A, vol. J99-A, no. 1, pp. 14-24, January, 2016.
Abstract: ロボットアバターを用いた遠隔対話システムは,操作者の声と動作をロボットアバターで再現することで,対話相手に電話やビデオチャット以上の対話感をもたらす. しかし,対面とは勝手の異なる操作インタフェースでは,操作者の動きは対面時よりも制限されるため,ロボットアバターの効果が十分に発揮できない. そこで本論文では,制限されていない操作者の音声から頭部動作をオンラインで生成し,それをロボットアバターの頭部動作に重ね合わせる遠隔操作システムを提案した. 発話の言語情報と韻律情報を用いることにより,多種類の頭部動作を生成可能である. 被験者実験では,提案システムにより自動生成された頭部動作は不自然ではなく,生成された頭部動作を付加したロボットアバターとの対話がよい印象を与えることが示された.
BibTeX:
@Article{境くりま2016,
  author          = {境くりま and 石井カルロス寿憲 and 港隆史 and 石黒浩},
  title           = {音声に対応する頭部動作のオンライン生成システムと遠隔操作における効果},
  journal         = {電子情報通信学会和文論文誌A},
  year            = {2016},
  volume          = {J99-A},
  number          = {1},
  pages           = {14-24},
  month           = Jan,
  abstract        = {ロボットアバターを用いた遠隔対話システムは,操作者の声と動作をロボットアバターで再現することで,対話相手に電話やビデオチャット以上の対話感をもたらす. しかし,対面とは勝手の異なる操作インタフェースでは,操作者の動きは対面時よりも制限されるため,ロボットアバターの効果が十分に発揮できない. そこで本論文では,制限されていない操作者の音声から頭部動作をオンラインで生成し,それをロボットアバターの頭部動作に重ね合わせる遠隔操作システムを提案した. 発話の言語情報と韻律情報を用いることにより,多種類の頭部動作を生成可能である. 被験者実験では,提案システムにより自動生成された頭部動作は不自然ではなく,生成された頭部動作を付加したロボットアバターとの対話がよい印象を与えることが示された.},
  etitle          = {Online speech-driven head motion generating system and evaluation on a tele-operated robot},
  file            = {kurima_IEICE_2015.pdf:pdf/kurima_IEICE_2015.pdf:PDF},
}
中西惇也, 桑村海光, 港隆史, 西尾修一, 石黒浩, "人型対話メディアにおける抱擁から生まれる好意", 電子情報通信学会和文論文誌, vol. J99-A, no. 1, pp. 36-44, January, 2016.
Abstract: 本研究は人型対話メディアを用いた身体的相互作用が,使用者の対話相手に対する感情に与える影響を検証した.身体的相互作用として抱擁に着目し,人型対話メディアの抱擁が対話者が感じる対話相手への関心や好意を向上させるという仮説を立てた.身体的相互作用を促す仕様の対話メディアを提案し,従来の対話メディアと違い,親密な人間関係を築くサポートメディアとしての可能性を示した.
BibTeX:
@Article{中西惇也2016,
  author          = {中西惇也 and 桑村海光 and 港隆史 and 西尾修一 and 石黒浩},
  title           = {人型対話メディアにおける抱擁から生まれる好意},
  journal         = {電子情報通信学会和文論文誌},
  year            = {2016},
  volume          = {J99-A},
  number          = {1},
  pages           = {36-44},
  month           = Jan,
  abstract        = {本研究は人型対話メディアを用いた身体的相互作用が,使用者の対話相手に対する感情に与える影響を検証した.身体的相互作用として抱擁に着目し,人型対話メディアの抱擁が対話者が感じる対話相手への関心や好意を向上させるという仮説を立てた.身体的相互作用を促す仕様の対話メディアを提案し,従来の対話メディアと違い,親密な人間関係を築くサポートメディアとしての可能性を示した.},
  etitle          = {Evoking affection by hugging a human-like telecommunication medium},
  file            = {中西惇也2015.pdf:pdf/中西惇也2015.pdf:PDF},
}
Kaiko Kuwamura, Takashi Minato, Shuichi Nishio, Hiroshi Ishiguro, "Inconsistency of Personality Evaluation Caused by Appearance Gap in Robotic Telecommunication", Interaction Studies, vol. 16, no. 2, pp. 249-271, November, 2015.
Abstract: In this paper, we discuss the problem of the appearance of teleoperated robots that are used as telecommunication media. Teleoperated robots have a physical existence that increases the feeling of copresence, compared with recent communication media such as cellphones and video chat. However, their appearance is xed, for example stuffed bear, or a image displayed on a monitor. Since people can determine their partner's personality merely from their appearance, a teleoperated robot's appearance which is different from the operator might construct a personality that conflicts with the operator's original personality. We compared the appearances of three communication media (nonhuman-like appearance robot, human-like appearance robot, and video chat) and found that due to the appearance gap, the human-like appearance robot prevented confusion better than the nonhuman-like appearance robot or the video chat and also transmitted an appropriate atmosphere due to the operator.
BibTeX:
@Article{Kuwamura2013a,
  author          = {Kaiko Kuwamura and Takashi Minato and Shuichi Nishio and Hiroshi Ishiguro},
  title           = {Inconsistency of Personality Evaluation Caused by Appearance Gap in Robotic Telecommunication},
  journal         = {Interaction Studies},
  year            = {2015},
  volume          = {16},
  number          = {2},
  pages           = {249-271},
  month           = NOV,
  abstract        = {In this paper, we discuss the problem of the appearance of teleoperated robots that are used as telecommunication media. Teleoperated robots have a physical existence that increases the feeling of copresence, compared with recent communication media such as cellphones and video chat. However, their appearance is xed, for example stuffed bear, or a image displayed on a monitor. Since people can determine their partner's personality merely from their appearance, a teleoperated robot's appearance which is different from the operator might construct a personality that conflicts with the operator's original personality. We compared the appearances of three communication media (nonhuman-like appearance robot, human-like appearance robot, and video chat) and found that due to the appearance gap, the human-like appearance robot prevented confusion better than the nonhuman-like appearance robot or the video chat and also transmitted an appropriate atmosphere due to the operator.},
  file            = {Kuwamura2013a.pdf:pdf/Kuwamura2013a.pdf:PDF},
  keywords        = {teleoperated android; telecomunication; robot; appearance; personality},
}
Jakub Zlotowski, Hidenobu Sumioka, Shuichi Nishio, Dylan Glas, Christoph Bartneck, Hiroshi Ishiguro, "Persistence of the Uncanny Valley: the Influence of Repeated Interactions and a Robot's Attitude on Its Perception", Frontiers in Psychology, June, 2015.
Abstract: The uncanny valley theory proposed by Mori has been heavily investigated in the recent years by researchers from various fields. However, the videos and images used in these studies did not permit any human interaction with the uncanny objects. Therefore, in the field of human-robot interaction it is still unclear what and whether an uncanny looking robot will have an impact on an interaction. In this paper we describe an exploratory empirical study that involved repeated interactions with robots that differed in embodiment and their attitude towards a human. We found that both investigated components of the uncanniness (likeability and eeriness) can be affected by an interaction with a robot. Likeability of a robot was mainly affected by its attitude and this effect was especially prominent for a machine-like robot. On the other hand, mere repeated interactions was sufficient to reduce eeriness irrespective of a robot's embodiment. As a result we urge other researchers to investigate Mori's theory in studies that involve actual human-robot interaction in order to fully understand the changing nature of this phenomenon.
BibTeX:
@Article{Zlotowski,
  author   = {Jakub Zlotowski and Hidenobu Sumioka and Shuichi Nishio and Dylan Glas and Christoph Bartneck and Hiroshi Ishiguro},
  title    = {Persistence of the Uncanny Valley: the Influence of Repeated Interactions and a Robot's Attitude on Its Perception},
  journal  = {Frontiers in Psychology},
  year     = {2015},
  month    = JUN,
  abstract = {The uncanny valley theory proposed by Mori has been heavily investigated in the recent years by researchers from various fields. However, the videos and images used in these studies did not permit any human interaction with the uncanny objects. Therefore, in the field of human-robot interaction it is still unclear what and whether an uncanny looking robot will have an impact on an interaction. In this paper we describe an exploratory empirical study that involved repeated interactions with robots that differed in embodiment and their attitude towards a human. We found that both investigated components of the uncanniness (likeability and eeriness) can be affected by an interaction with a robot. Likeability of a robot was mainly affected by its attitude and this effect was especially prominent for a machine-like robot. On the other hand, mere repeated interactions was sufficient to reduce eeriness irrespective of a robot's embodiment. As a result we urge other researchers to investigate Mori's theory in studies that involve actual human-robot interaction in order to fully understand the changing nature of this phenomenon.},
  url      = {http://journal.frontiersin.org/article/10.3389/fpsyg.2015.00883/abstract},
  doi      = {10.3389/fpsyg.2015.00883},
  file     = {Jakub2014a.pdf:pdf/Jakub2014a.pdf:PDF},
}
Martin Cooney, Shuichi Nishio, Hiroshi Ishiguro, "Importance of Touch for Conveying Affection in a Multimodal Interaction with a Small Humanoid Robot", International Journal of Humanoid Robotics, vol. 12, issue 01, pp. 1550002 (22 pages), 2015.
Abstract: To be accepted as a part of our everyday lives, companion robots will require the capability to recognize people's behavior and respond appropriately. In the current work, we investigated which characteristics of behavior could be used by a small humanoid robot to recognize when a human is seeking to convey affection. A main challenge in doing so was that human social norms are complex, comprising behavior which exhibits high spatiotemporal variance, consists of multiple channels and can express different meanings. To deal with this difficulty, we adopted a combined approach in which we analyzed free interactions and also asked participants to rate short video-clips depicting human-robot interaction. As a result, we are able to present a wide range of findings related to the current topic, including on the fundamental role (prevalence, affectionate impact, and motivations) of actions, channels, and modalities; effects of posture and a robot's behavior; expected reactions; and contributions of modalities in complementary and conflicting configurations. This article extends the existing literature by identifying some useful multimodal affectionate cues which can be leveraged by a robot during interactions; we aim to use the acquired knowledge in a small humanoid robot to provide affection during play toward improving quality of life for lonely persons.
BibTeX:
@Article{Cooney2013b,
  author          = {Martin Cooney and Shuichi Nishio and Hiroshi Ishiguro},
  title           = {Importance of Touch for Conveying Affection in a Multimodal Interaction with a Small Humanoid Robot},
  journal         = {International Journal of Humanoid Robotics},
  year            = {2015},
  volume          = {12, issue 01},
  pages           = {1550002 (22 pages)},
  abstract        = {To be accepted as a part of our everyday lives, companion robots will require the capability to recognize people's behavior and respond appropriately. In the current work, we investigated which characteristics of behavior could be used by a small humanoid robot to recognize when a human is seeking to convey affection. A main challenge in doing so was that human social norms are complex, comprising behavior which exhibits high spatiotemporal variance, consists of multiple channels and can express different meanings. To deal with this difficulty, we adopted a combined approach in which we analyzed free interactions and also asked participants to rate short video-clips depicting human-robot interaction. As a result, we are able to present a wide range of findings related to the current topic, including on the fundamental role (prevalence, affectionate impact, and motivations) of actions, channels, and modalities; effects of posture and a robot's behavior; expected reactions; and contributions of modalities in complementary and conflicting configurations. This article extends the existing literature by identifying some useful multimodal affectionate cues which can be leveraged by a robot during interactions; we aim to use the acquired knowledge in a small humanoid robot to provide affection during play toward improving quality of life for lonely persons.},
  doi             = {10.1142/S0219843615500024},
  file            = {Cooney2014a.pdf:pdf/Cooney2014a.pdf:PDF},
  keywords        = {Affection; multi-modal; play; small humanoid robot, human-robot interaction},
}
Martin Cooney, Shuichi Nishio, Hiroshi Ishiguro, "Affectionate Interaction with a Small Humanoid Robot Capable of Recognizing Social Touch Behavior", ACM Transactions on Interactive Intelligent Systems, vol. 4, no. 4, pp. 32, December, 2014.
Abstract: Activity recognition, involving a capability to automatically recognize people's behavior and its underlying significance, will play a crucial role in facilitating the integration of interactive robotic artifacts into everyday human environments. In particular, social intelligence in recognizing affectionate behavior will offer value by allowing companion robots to bond meaningfully with persons involved. The current article addresses the issue of designing an affectionate haptic interaction between a person and a companion robot by a) furthering understanding of how people's attempts to communicate affection to a robot through touch can be recognized, and b) exploring how a small humanoid robot can behave in conjunction with such touches to elicit affection. We report on an experiment conducted to gain insight into how people perceive three fundamental interactive strategies in which a robot is either always highly affectionate, appropriately affectionate, or superficially unaffectionate (emphasizing positivity, contingency, and challenge respectively). Results provide insight into the structure of affectionate interaction between humans and humanoid robots—underlining the importance of an interaction design expressing sincerity, liking, stability and variation—and suggest the usefulness of novel modalities such as warmth and cold.
BibTeX:
@Article{Cooney2014c,
  author          = {Martin Cooney and Shuichi Nishio and Hiroshi Ishiguro},
  title           = {Affectionate Interaction with a Small Humanoid Robot Capable of Recognizing Social Touch Behavior},
  journal         = {{ACM} Transactions on Interactive Intelligent Systems},
  year            = {2014},
  volume          = {4},
  number          = {4},
  pages           = {32},
  month           = Dec,
  abstract        = {Activity recognition, involving a capability to automatically recognize people's behavior and its underlying significance, will play a crucial role in facilitating the integration of interactive robotic artifacts into everyday human environments. In particular, social intelligence in recognizing affectionate behavior will offer value by allowing companion robots to bond meaningfully with persons involved. The current article addresses the issue of designing an affectionate haptic interaction between a person and a companion robot by a) furthering understanding of how people's attempts to communicate affection to a robot through touch can be recognized, and b) exploring how a small humanoid robot can behave in conjunction with such touches to elicit affection. We report on an experiment conducted to gain insight into how people perceive three fundamental interactive strategies in which a robot is either always highly affectionate, appropriately affectionate, or superficially unaffectionate (emphasizing positivity, contingency, and challenge respectively). Results provide insight into the structure of affectionate interaction between humans and humanoid robots—underlining the importance of an interaction design expressing sincerity, liking, stability and variation—and suggest the usefulness of novel modalities such as warmth and cold.},
  url             = {http://dl.acm.org/citation.cfm?doid=2688469.2685395},
  doi             = {10.1145/2685395},
  file            = {Cooney2014b.pdf:pdf/Cooney2014b.pdf:PDF},
  keywords        = {human-robot interaction; activity recognition; small humanoid companion robot; affectionate touch behavior; intelligent systems},
}
Rosario Sorbello, Antonio Chella, Carmelo Cali, Marcello Giardina, Shuichi Nishio, Hiroshi Ishiguro, "Telenoid Android Robot as an Embodied Perceptual Social Regulation Medium Engaging Natural Human-Humanoid Interaction", Robotics and Autonomous Systems Journal, vol. 62, issue 9, pp. 1329-1341, September, 2014.
Abstract: The present paper aims to validate our research on Human-Humanoid Interaction (HHI) using the minimalist humanoid robot Telenoid. We conducted the human-robot interaction test with 142 young people who had no prior interaction experience with this robot. The main goal is the analysis of the two social dimensions ("Perception" and "Believability" ) useful for increasing the natural behaviour between users and Telenoid. We administered our custom questionnaire to human subjects in association with a well defined experimental setting ("ordinary and goal-guided task"). A thorough analysis of the questionnaires has been carried out and reliability and internal consistency in correlation between the multiple items has been calculated. Our experimental results show that the perceptual behavior and believability, as implicit social competences, could improve the meaningfulness and the natural-like sense of human-humanoid interaction in everyday life taskdriven activities. Telenoid is perceived as an autonomous cooperative agent for a shared environment by human beings.
BibTeX:
@Article{Sorbello2013a,
  author   = {Rosario Sorbello and Antonio Chella and Carmelo Cali and Marcello Giardina and Shuichi Nishio and Hiroshi Ishiguro},
  title    = {Telenoid Android Robot as an Embodied Perceptual Social Regulation Medium Engaging Natural Human-Humanoid Interaction},
  journal  = {Robotics and Autonomous Systems Journal},
  year     = {2014},
  volume   = {62, issue 9},
  pages    = {1329-1341},
  month    = SEP,
  abstract = {The present paper aims to validate our research on Human-Humanoid Interaction (HHI) using the minimalist humanoid robot Telenoid. We conducted the human-robot interaction test with 142 young people who had no prior interaction experience with this robot. The main goal is the analysis of the two social dimensions ("Perception" and "Believability" ) useful for increasing the natural behaviour between users and Telenoid. We administered our custom questionnaire to human subjects in association with a well defined experimental setting ("ordinary and goal-guided task"). A thorough analysis of the questionnaires has been carried out and reliability and internal consistency in correlation between the multiple items has been calculated. Our experimental results show that the perceptual behavior and believability, as implicit social competences, could improve the meaningfulness and the natural-like sense of human-humanoid interaction in everyday life taskdriven activities. Telenoid is perceived as an autonomous cooperative agent for a shared environment by human beings.},
  url      = {http://www.sciencedirect.com/science/article/pii/S092188901400061X},
  doi      = {10.1016/j.robot.2014.03.017},
  file     = {Sorbello2013a.pdf:pdf/Sorbello2013a.pdf:PDF},
  keywords = {Telenoid; Geminoid; Social Robot; Human-Humanoid Robot Interaction},
}
Kaiko Kuwamura, Kurima Sakai, Takashi Minato, Shuichi Nishio, Hiroshi Ishiguro, "Hugvie: communication device for encouraging good relationship through the act of hugging", Lovotics, vol. Vol. 1, Issue 1, pp. 10000104, February, 2014.
Abstract: In this paper, we introduce a communication device which encourages users to establish a good relationship with others. We designed the device so that it allows users to virtually hug the person in the remote site through the medium. In this paper, we report that when a participant talks to his communication partner during their first encounter while hugging the communication medium, he mistakenly feels as if they are establishing a good relationship and that he is being loved rather than just being liked. From this result, we discuss Active Co-Presence, a new method to enhance co-presence of people in remote through active behavior.
BibTeX:
@Article{Kuwamura2014a,
  author          = {Kaiko Kuwamura and Kurima Sakai and Takashi Minato and Shuichi Nishio and Hiroshi Ishiguro},
  title           = {Hugvie: communication device for encouraging good relationship through the act of hugging},
  journal         = {Lovotics},
  year            = {2014},
  volume          = {Vol. 1, Issue 1},
  pages           = {10000104},
  month           = Feb,
  abstract        = {In this paper, we introduce a communication device which encourages users to establish a good relationship with others. We designed the device so that it allows users to virtually hug the person in the remote site through the medium. In this paper, we report that when a participant talks to his communication partner during their first encounter while hugging the communication medium, he mistakenly feels as if they are establishing a good relationship and that he is being loved rather than just being liked. From this result, we discuss Active Co-Presence, a new method to enhance co-presence of people in remote through active behavior.},
  url             = {http://www.omicsonline.com/open-access/hugvie_communication_device_for_encouraging_good_relationship_through_the_act_of_hugging.pdf?aid=24445},
  doi             = {10.4172/2090-9888.10000104},
  file            = {Kuwamura2014a.pdf:pdf/Kuwamura2014a.pdf:PDF},
  keywords        = {hug; co-presence; telecommunication},
}
Ryuji Yamazaki, Shuichi Nishio, Hiroshi Ishiguro, Marco Nørskov, Nobu Ishiguro, Giuseppe Balistreri, "Acceptability of a Teleoperated Android by Senior Citizens in Danish Society: A Case Study on the Application of an Embodied Communication Medium to Home Care", International Journal of Social Robotics, vol. 6, no. 3, pp. 429-442, 2014.
Abstract: We explore the potential of teleoperated androids,which are embodied telecommunication media with humanlike appearances. By conducting field experiments, we investigated how Telenoid, a teleoperated android designed as a minimalistic human, affect people in the real world when it is employed to express telepresence and a sense of ‘being there'. Our exploratory study focused on the social aspects of the android robot, which might facilitate communication between the elderly and Telenoid's operator. This new way of creating social relationships can be used to solve a problem in society, the social isolation of senior citizens. It has been becoming a major issue even in Denmark that is known as one of countries with advanced welfare systems. After asking elderly people to use Te-lenoid at their homes, we found that the elderly with or without dementia showed positive attitudes toward Telenoid and imaginatively developed various dialogue strategies. Their positivity and strong attachment to its minimalistic human design were cross-culturally shared in Denmark and Japan. Contrary to the negative reactions by non-users in media reports, our result suggests that teleoperated androids can be accepted by the elderly as a kind of universal design medium for social inclusion.
BibTeX:
@Article{Yamazaki2013a,
  author          = {Ryuji Yamazaki and Shuichi Nishio and Hiroshi Ishiguro and Marco N\orskov and Nobu Ishiguro and Giuseppe Balistreri},
  title           = {Acceptability of a Teleoperated Android by Senior Citizens in Danish Society: A Case Study on the Application of an Embodied Communication Medium to Home Care},
  journal         = {International Journal of Social Robotics},
  year            = {2014},
  volume          = {6},
  number          = {3},
  pages           = {429-442},
  abstract        = {We explore the potential of teleoperated androids,which are embodied telecommunication media with humanlike appearances. By conducting field experiments, we investigated how Telenoid, a teleoperated android designed as a minimalistic human, affect people in the real world when it is employed to express telepresence and a sense of ‘being there'. Our exploratory study focused on the social aspects of the android robot, which might facilitate communication between the elderly and Telenoid's operator. This new way of creating social relationships can be used to solve a problem in society, the social isolation of senior citizens. It has been becoming a major issue even in Denmark that is known as one of countries with advanced welfare systems. After asking elderly people to use Te-lenoid at their homes, we found that the elderly with or without dementia showed positive attitudes toward Telenoid and imaginatively developed various dialogue strategies. Their positivity and strong attachment to its minimalistic human design were cross-culturally shared in Denmark and Japan. Contrary to the negative reactions by non-users in media reports, our result suggests that teleoperated androids can be accepted by the elderly as a kind of universal design medium for social inclusion.},
  doi             = {10.1007/s12369-014-0247-x},
  file            = {Yamazaki2013a.pdf:pdf/Yamazaki2013a.pdf:PDF},
  keywords        = {teleoperated android; minimal design; embodied communication; social isolation; elderly care; social acceptance},
}
Hidenobu Sumioka, Shuichi Nishio, Takashi Minato, Ryuji Yamazaki, Hiroshi Ishiguro, "Minimal human design approach for sonzai-kan media: investigation of a feeling of human presence", Cognitive Computation, vol. 6, Issue 4, pp. 760-774, 2014.
Abstract: Even though human-like robotic media give the feeling of being with others and positively affect our physical and mental health, scant research has addressed how much information about a person should be reproduced to enhance the feeling of a human presence. We call this feeling sonzai-kan, which is a Japanese phrase that means the feeling of a presence. We propose a minimal design approach for exploring the requirements to enhance this feeling and hypothesize that it is enhanced if information is presented from at least two different modalities. In this approach, the exploration is conducted by designing sonzai-kan media through exploratory research with the media, their evaluations, and the development of their systems. In this paper, we give an overview of our current work with Telenoid, a teleoperated android designed with our approach, to illustrate how we explore the requirements and how such media impact our quality of life. We discuss the potential advantages of our approach for forging positive social relationships and designing an autonomous agent with minimal cognitive architecture.
BibTeX:
@Article{Sumioka2013e,
  author          = {Hidenobu Sumioka and Shuichi Nishio and Takashi Minato and Ryuji Yamazaki and Hiroshi Ishiguro},
  title           = {Minimal human design approach for sonzai-kan media: investigation of a feeling of human presence},
  journal         = {Cognitive Computation},
  year            = {2014},
  volume          = {6, Issue 4},
  pages           = {760-774},
  abstract        = {Even though human-like robotic media give the feeling of being with others and positively affect our physical and mental health, scant research has addressed how much information about a person should be reproduced to enhance the feeling of a human presence. We call this feeling sonzai-kan, which is a Japanese phrase that means the feeling of a presence. We propose a minimal design approach for exploring the requirements to enhance this feeling and hypothesize that it is enhanced if information is presented from at least two different modalities. In this approach, the exploration is conducted by designing sonzai-kan media through exploratory research with the media, their evaluations, and the development of their systems. In this paper, we give an overview of our current work with Telenoid, a teleoperated android designed with our approach, to illustrate how we explore the requirements and how such media impact our quality of life. We discuss the potential advantages of our approach for forging positive social relationships and designing an autonomous agent with minimal cognitive architecture.},
  url             = {http://link.springer.com/article/10.1007%2Fs12559-014-9270-3},
  doi             = {10.1007/s12559-014-9270-3},
  file            = {Sumioka2014.pdf:pdf/Sumioka2014.pdf:PDF},
  keywords        = {Human–robot Interaction; Minimal design; Elderly care; Android science},
}
Kurima Sakai, Hidenobu Sumioka, Takashi Minato, Shuichi Nishio, Hiroshi Ishiguro, "Motion Design of Interactive Small Humanoid Robot with Visual Illusion", International Journal of Innovative Computing, Information and Control, vol. 9, no. 12, pp. 4725-4736, December, 2013.
Abstract: This paper presents a novel method to express motions of a small human-like robotic avatar that can be a portable communication medium: a user can talk with another person while feeling the other's presence at anytime, anywhere. The human-like robotic avatar is expected to express human-like movements; however, there are technical and cost problems in implementing actuators in the small body. The method is to induce illusory motion of the robot's extremities with blinking lights. This idea needs only Light Emitting Diodes (LEDs) and avoids the above problems. This paper presents the design of an LED blinking pattern to induce an illusory nodding motion of Elfoid, which is a hand-held tele-operated humanoid robot. A psychological experiment shows that the illusory nodding motion gives a better impression to people than a symbolic blinking pattern. This result suggests that even the illusory motion of a robotic avatar can improve tele-communications.
BibTeX:
@Article{Sakai2013,
  author          = {Kurima Sakai and Hidenobu Sumioka and Takashi Minato and Shuichi Nishio and Hiroshi Ishiguro},
  title           = {Motion Design of Interactive Small Humanoid Robot with Visual Illusion},
  journal         = {International Journal of Innovative Computing, Information and Control},
  year            = {2013},
  volume          = {9},
  number          = {12},
  pages           = {4725-4736},
  month           = Dec,
  abstract        = {This paper presents a novel method to express motions of a small human-like robotic avatar that can be a portable communication medium: a user can talk with another person while feeling the other's presence at anytime, anywhere. The human-like robotic avatar is expected to express human-like movements; however, there are technical and cost problems in implementing actuators in the small body. The method is to induce illusory motion of the robot's extremities with blinking lights. This idea needs only Light Emitting Diodes (LEDs) and avoids the above problems. This paper presents the design of an LED blinking pattern to induce an illusory nodding motion of Elfoid, which is a hand-held tele-operated humanoid robot. A psychological experiment shows that the illusory nodding motion gives a better impression to people than a symbolic blinking pattern. This result suggests that even the illusory motion of a robotic avatar can improve tele-communications.},
  url             = {http://www.ijicic.org/apchi12-275.pdf},
  file            = {Sakai2013.pdf:pdf/Sakai2013.pdf:PDF},
  keywords        = {Tele-communication; Nonverbal communication; Portable robot avatar; Visual illusion of motion},
}
Martin Cooney, Shuichi Nishio, Hiroshi Ishiguro, "Designing Robots for Well-being: Theoretical Background and Visual Scenes of Affectionate Play with a Small Humanoid Robot", Lovotics, November, 2013.
Abstract: Social well-being, referring to a subjectively perceived long-term state of happiness, life satisfaction, health, and other prosperity afforded by social interactions, is increasingly being employed to rate the success of human social systems. Although short-term changes in well-being can be difficult to measure directly, two important determinants can be assessed: perceived enjoyment and affection from relationships. The current article chronicles our work over several years toward achieving enjoyable and affectionate interactions with robots, with the aim of contributing to perception of social well-being in interacting persons. Emphasis has been placed on both describing in detail the theoretical basis underlying our work, and relating the story of each of several designs from idea to evaluation in a visual fashion. For the latter, we trace the course of designing four different robotic artifacts intended to further our understanding of how to provide enjoyment, elicit affection, and realize one specific scenario for affectionate play. As a result, by describing (a) how perceived enjoyment and affection contribute to social well-being, and (b) how a small humanoid robot can proactively engage in enjoyable and affectionate play—recognizing people's behavior and leveraging this knowledge—the current article informs the design of companion robots intended to facilitate a perception of social well-being in interacting persons during affectionate play.
BibTeX:
@Article{Cooney2013d,
  author          = {Martin Cooney and Shuichi Nishio and Hiroshi Ishiguro},
  title           = {Designing Robots for Well-being: Theoretical Background and Visual Scenes of Affectionate Play with a Small Humanoid Robot},
  journal         = {Lovotics},
  year            = {2013},
  month           = Nov,
  abstract        = {Social well-being, referring to a subjectively perceived long-term state of happiness, life satisfaction, health, and other prosperity afforded by social interactions, is increasingly being employed to rate the success of human social systems. Although short-term changes in well-being can be difficult to measure directly, two important determinants can be assessed: perceived enjoyment and affection from relationships. The current article chronicles our work over several years toward achieving enjoyable and affectionate interactions with robots, with the aim of contributing to perception of social well-being in interacting persons. Emphasis has been placed on both describing in detail the theoretical basis underlying our work, and relating the story of each of several designs from idea to evaluation in a visual fashion. For the latter, we trace the course of designing four different robotic artifacts intended to further our understanding of how to provide enjoyment, elicit affection, and realize one specific scenario for affectionate play. As a result, by describing (a) how perceived enjoyment and affection contribute to social well-being, and (b) how a small humanoid robot can proactively engage in enjoyable and affectionate play—recognizing people's behavior and leveraging this knowledge—the current article informs the design of companion robots intended to facilitate a perception of social well-being in interacting persons during affectionate play.},
  url             = {http://www.omicsonline.com/open-access/designing_robots_for_well_being_theoretical_background_and_visual.pdf?aid=24444},
  doi             = {10.4172/2090-9888.1000101},
  file            = {Cooney2013d.pdf:pdf/Cooney2013d.pdf:PDF},
  keywords        = {Human-robot interaction; well-being; enjoyment; affection; recognizing typical behavior; small humanoid robot},
}
Hidenobu Sumioka, Aya Nakae, Ryota Kanai, Hiroshi Ishiguro, "Huggable communication medium decreases cortisol levels", Scientific Reports, vol. 3, no. 3034, October, 2013.
Abstract: Interpersonal touch is a fundamental component of social interactions because it can mitigate physical and psychological distress. To reproduce the psychological and physiological effects associated with interpersonal touch, interest is growing in introducing tactile sensations to communication devices. However, it remains unknown whether physical contact with such devices can produce objectively measurable endocrine effects like real interpersonal touching can. We directly tested this possibility by examining changes in stress hormone cortisol before and after a conversation with a huggable communication device. Participants had 15-minute conversations with a remote partner that was carried out either with a huggable human-shaped device or with a mobile phone. Our experiment revealed significant reduction in the cortisol levels for those who had conversations with the huggable device. Our approach to evaluate communication media with biological markers suggests new design directions for interpersonal communication media to improve social support systems in modern highly networked societies.
BibTeX:
@Article{Sumioka2013d,
  author          = {Hidenobu Sumioka and Aya Nakae and Ryota Kanai and Hiroshi Ishiguro},
  title           = {Huggable communication medium decreases cortisol levels},
  journal         = {Scientific Reports},
  year            = {2013},
  volume          = {3},
  number          = {3034},
  month           = Oct,
  abstract        = {Interpersonal touch is a fundamental component of social interactions because it can mitigate physical and psychological distress. To reproduce the psychological and physiological effects associated with interpersonal touch, interest is growing in introducing tactile sensations to communication devices. However, it remains unknown whether physical contact with such devices can produce objectively measurable endocrine effects like real interpersonal touching can. We directly tested this possibility by examining changes in stress hormone cortisol before and after a conversation with a huggable communication device. Participants had 15-minute conversations with a remote partner that was carried out either with a huggable human-shaped device or with a mobile phone. Our experiment revealed significant reduction in the cortisol levels for those who had conversations with the huggable device. Our approach to evaluate communication media with biological markers suggests new design directions for interpersonal communication media to improve social support systems in modern highly networked societies.},
  url             = {http://www.nature.com/srep/2013/131023/srep03034/full/srep03034.html},
  doi             = {10.1038/srep03034},
  file            = {Sumioka2013d.pdf:pdf/Sumioka2013d.pdf:PDF},
}
Martin Cooney, Takayuki Kanda, Aris Alissandrakis, Hiroshi Ishiguro, "Designing Enjoyable Motion-Based Play Interactions with a Small Humanoid Robot", International Journal of Social Robotics, vol. 6, pp. 173-193, September, 2013.
Abstract: Robots designed to co-exist with humans in domestic and public environments should be capable of interacting with people in an enjoyable fashion in order to be socially accepted. In this research, we seek to set up a small humanoid robot with the capability to provide enjoyment to people who pick up the robot and play with it by hugging, shaking and moving the robot in various ways. Inertial sensors inside a robot can capture how the robot‘s body is moved when people perform such full-body gestures. Unclear is how a robot can recognize what people do during play, and how such knowledge can be used to provide enjoyment. People‘s behavior is complex, and naïve designs for a robot‘s behavior based only on intuitive knowledge from previous designs may lead to failed interactions. To solve these problems, we model people‘s behavior using typical full-body gestures observed in free interaction trials, and devise an interaction design based on avoiding typical failures observed in play sessions with a naïve version of our robot. The interaction design is completed by investigating how a robot can provide reward and itself suggest ways to play during an interaction. We then verify experimentally that our design can be used to provide enjoyment during a playful interaction. By describing the process of how a small humanoid robot can be designed to provide enjoyment, we seek to move one step closer to realizing companion robots which can be successfully integrated into human society.
BibTeX:
@Article{Cooney2013,
  author          = {Martin Cooney and Takayuki Kanda and Aris Alissandrakis and Hiroshi Ishiguro},
  title           = {Designing Enjoyable Motion-Based Play Interactions with a Small Humanoid Robot},
  journal         = {International Journal of Social Robotics},
  year            = {2013},
  volume          = {6},
  pages           = {173-193},
  month           = Sep,
  abstract        = {Robots designed to co-exist with humans in domestic and public environments should be capable of interacting with people in an enjoyable fashion in order to be socially accepted. In this research, we seek to set up a small humanoid robot with the capability to provide enjoyment to people who pick up the robot and play with it by hugging, shaking and moving the robot in various ways. Inertial sensors inside a robot can capture how the robot‘s body is moved when people perform such full-body gestures. Unclear is how a robot can recognize what people do during play, and how such knowledge can be used to provide enjoyment. People‘s behavior is complex, and na\"{i}ve designs for a robot‘s behavior based only on intuitive knowledge from previous designs may lead to failed interactions. To solve these problems, we model people‘s behavior using typical full-body gestures observed in free interaction trials, and devise an interaction design based on avoiding typical failures observed in play sessions with a na\"{i}ve version of our robot. The interaction design is completed by investigating how a robot can provide reward and itself suggest ways to play during an interaction. We then verify experimentally that our design can be used to provide enjoyment during a playful interaction. By describing the process of how a small humanoid robot can be designed to provide enjoyment, we seek to move one step closer to realizing companion robots which can be successfully integrated into human society.},
  url             = {http://link.springer.com/article/10.1007%2Fs12369-013-0212-0},
  doi             = {10.1007/s12369-013-0212-0},
  file            = {Cooney2013.pdf:pdf/Cooney2013.pdf:PDF},
  keywords        = {Interaction design for enjoyment; Playful human-robot interaction; Full-body gesture recognition; Inertial sensing; Small humanoid robot},
}
石井カルロス寿憲, 劉超然, 石黒浩, 萩田紀博, "遠隔存在感ロボットのためのフォルマントによる口唇動作生成手法", 日本ロボット学会誌, vol. 31, no. 4, pp. 83-90, May, 2013.
Abstract: Generating natural motion in robots is important for improving human-robot interaction. We developed a tele-operation system where the lip motion of a remote humanoid robot is automatically controlled from the operator's voice. In the present work, we introduce an improved version of our proposed speech-driven lip motion generation method, where lip height and width degrees are estimated based on vowel formant information. The method requires the calibration of only one parameter for speaker normalization. Lip height control is evaluated in two types of humanoid robots (Geminoid-F and Telenoid-R2). Subjective evaluation indicated that the proposed audio-based method is able to generate lip motion with naturalness superior to vision-based and motion capture-based approaches. Partial lip width control was shown to improve lip motion naturalness in Geminoid-F, which also has an actuator for stretching the lip corners. Issues regarding synchronization of audio and motion streams, and online real-time processing are also discussed.
BibTeX:
@Article{石井カルロス寿憲2012,
  author          = {石井カルロス寿憲 and 劉超然 and 石黒浩 and 萩田紀博},
  title           = {遠隔存在感ロボットのためのフォルマントによる口唇動作生成手法},
  journal         = {日本ロボット学会誌},
  year            = {2013},
  volume          = {31},
  number          = {4},
  pages           = {83-90},
  month           = May,
  abstract        = {Generating natural motion in robots is important for improving human-robot interaction. We developed a tele-operation system where the lip motion of a remote humanoid robot is automatically controlled from the operator's voice. In the present work, we introduce an improved version of our proposed speech-driven lip motion generation method, where lip height and width degrees are estimated based on vowel formant information. The method requires the calibration of only one parameter for speaker normalization. Lip height control is evaluated in two types of humanoid robots (Geminoid-F and Telenoid-R2). Subjective evaluation indicated that the proposed audio-based method is able to generate lip motion with naturalness superior to vision-based and motion capture-based approaches. Partial lip width control was shown to improve lip motion naturalness in Geminoid-F, which also has an actuator for stretching the lip corners. Issues regarding synchronization of audio and motion streams, and online real-time processing are also discussed.},
  doi             = {10.7210/jrsj.31.401},
  etitle          = {Lip motion generation method based on formants for tele-presence humanoid robots},
  eabstract       = {Generating natural motion in robots is important for improving human-robot interaction. We developed a tele-operation system where the lip motion of a remote humanoid robot is automatically controlled from the operator's voice. In the present work, we introduce an improved version of our proposed speech-driven lip motion generation method, where lip height and width degrees are estimated based on vowel formant information. The method requires the calibration of only one parameter for speaker normalization. Lip height control is evaluated in two types of humanoid robots (Geminoid-F and Telenoid-R2). Subjective evaluation indicated that the proposed audio-based method is able to generate lip motion with naturalness superior to vision-based and motion capture-based approaches. Partial lip width control was shown to improve lip motion naturalness in Geminoid-F, which also has an actuator for stretching the lip corners. Issues regarding synchronization of audio and motion streams, and online real-time processing are also discussed.},
  file            = {石井カルロス寿憲2012.pdf:pdf/石井カルロス寿憲2012.pdf:PDF},
  keywords        = {Lip motion; tele-presence; humanoid robots; formant; real-time processing},
}
Chaoran Liu, Carlos T. Ishi, Hiroshi Ishiguro, Norihiro Hagita, "Generation of Nodding, Head Tilting and Gazing for Human-Robot Speech Interaction", International Journal of Humanoid Robotics, vol. 10, no. 1, pp. 1350009(1-19), April, 2013.
Abstract: Head motion occurs naturally and in synchrony with speech during human dialogue communication, and may carry paralinguistic information, such as intentions, attitudes and emotions. Therefore, natural-looking head motion by a robot is important for smooth human-robot interaction. Based on rules inferred from analyses of the relationship between head motion and dialogue acts, this paperproposes a model for generating headtilting and nodding, and evaluates the model using three types of humanoid robot (a very human-like android, "Geminoid F", a typical humanoid robot with less facial degrees of freedom, "Robovie R2", and a robot with a 3-axis rotatable neck and movable lips, "Telenoid R2"). Analysis of subjective scores shows that the proposed model including head tilting and nodding can generate head motion with increased naturalness compared to nodding only or directly mapping peoples original motions without gaze information. We also nd that an upward motion of a robots face can be used by robots which do not have a mouth in order to provide the appearance that utterance is taking place. Finally, we conduct an experiment in which participants act as visitors to an information desk attended by robots. As a consequence, we verify that our generation model performs equally to directly mapping peoples original motions with gaze information in terms ofperceived naturalness.
BibTeX:
@Article{Liu2012a,
  author          = {Chaoran Liu and Carlos T. Ishi and Hiroshi Ishiguro and Norihiro Hagita},
  title           = {Generation of Nodding, Head Tilting and Gazing for Human-Robot Speech Interaction},
  journal         = {International Journal of Humanoid Robotics},
  year            = {2013},
  volume          = {10},
  number          = {1},
  pages           = {1350009(1-19)},
  month           = Apr,
  abstract        = {Head motion occurs naturally and in synchrony with speech during human dialogue communication, and may carry paralinguistic information, such as intentions, attitudes and emotions. Therefore, natural-looking head motion by a robot is important for smooth human-robot interaction. Based on rules inferred from analyses of the relationship between head motion and dialogue acts, this paperproposes a model for generating headtilting and nodding, and evaluates the model using three types of humanoid robot (a very human-like android, "Geminoid F", a typical humanoid robot with less facial degrees of freedom, "Robovie R2", and a robot with a 3-axis rotatable neck and movable lips, "Telenoid R2"). Analysis of subjective scores shows that the proposed model including head tilting and nodding can generate head motion with increased naturalness compared to nodding only or directly mapping peoples original motions without gaze information. We also nd that an upward motion of a robots face can be used by robots which do not have a mouth in order to provide the appearance that utterance is taking place. Finally, we conduct an experiment in which participants act as visitors to an information desk attended by robots. As a consequence, we verify that our generation model performs equally to directly mapping peoples original motions with gaze information in terms ofperceived naturalness.},
  day             = {2},
  url             = {http://www.worldscientific.com/doi/abs/10.1142/S0219843613500096},
  doi             = {10.1142/S0219843613500096},
  file            = {Liu2012a.pdf:pdf/Liu2012a.pdf:PDF},
  keywords        = {Head motion; dialogue acts; gazing; motion generation},
}
Ryuji Yamazaki, Shuichi Nishio, Kohei Ogawa, Kohei Matsumura, Takashi Minato, Hiroshi Ishiguro, Tsutomu Fujinami, Masaru Nishikawa, "Promoting Socialization of Schoolchildren Using a Teleoperated Android: An Interaction Study", International Journal of Humanoid Robotics, vol. 10, no. 1, pp. 1350007(1-25), April, 2013.
Abstract: Our research focuses on the social aspects of teleoperated androids as new media for human relationships and explores how they can contribute and encourage people to associate with others. We introduced Telenoid, a teleoperated android with a minimalistic human design, to elementary school classrooms to see how children respond to it. We found that Telenoid encourages children to work cooperatively and facilitates communication with senior citizens with dementia. Children differentiated their roles spontaneously and cooperatively participated in group work. In another class, we applied Telenoid to remote communication between schoolchildren and assisted living residents. The children felt relaxed about continuing their conversations with the elderly and positively participated in them. The results suggest that limited functionality may facilitate cooperation among participants, and varied embodiments may promote the learning process of the association with others, even those who are unfamiliar. We propose a teleoperated android as an educational tool to promote socialization.
BibTeX:
@Article{Yamazaki2012e,
  author          = {Ryuji Yamazaki and Shuichi Nishio and Kohei Ogawa and Kohei Matsumura and Takashi Minato and Hiroshi Ishiguro and Tsutomu Fujinami and Masaru Nishikawa},
  title           = {Promoting Socialization of Schoolchildren Using a Teleoperated Android: An Interaction Study},
  journal         = {International Journal of Humanoid Robotics},
  year            = {2013},
  volume          = {10},
  number          = {1},
  pages           = {1350007(1-25)},
  month           = Apr,
  abstract        = {Our research focuses on the social aspects of teleoperated androids as new media for human relationships and explores how they can contribute and encourage people to associate with others. We introduced Telenoid, a teleoperated android with a minimalistic human design, to elementary school classrooms to see how children respond to it. We found that Telenoid encourages children to work cooperatively and facilitates communication with senior citizens with dementia. Children differentiated their roles spontaneously and cooperatively participated in group work. In another class, we applied Telenoid to remote communication between schoolchildren and assisted living residents. The children felt relaxed about continuing their conversations with the elderly and positively participated in them. The results suggest that limited functionality may facilitate cooperation among participants, and varied embodiments may promote the learning process of the association with others, even those who are unfamiliar. We propose a teleoperated android as an educational tool to promote socialization.},
  day             = {2},
  url             = {http://www.worldscientific.com/doi/abs/10.1142/S0219843613500072},
  doi             = {10.1142/S0219843613500072},
  file            = {Yamazaki2012e.pdf:pdf/Yamazaki2012e.pdf:PDF},
  keywords        = {Telecommunication; android robot; minimal design; cooperation; role differentiation; inter-generational relationship; embodied communication; teleoperation; socialization},
}
尾上聡, 山本健太, 田中一晶, 中西英之, "遠隔対話者の身体動作の提示による音声コミュニケーションの円滑化", 情報処理学会論文誌, vol. 54, no. 4, pp. 1462-1469, April, 2013.
Abstract: 遠隔地の対話者を視覚的に提示する方法として,ビデオ,アバタ,写真の3つの方法があげられる.しかし,これらの方法が音声コミュニケーションに与える効果を,観察データから明らかにしたという報告はない.我々はそのような観察データを得るために,1ターンの発話に含まれる途切れ回数と発話速度に着目した.そして,我々は音声コミュニケーションに対する視覚情報の有効性を示すため,提示する視覚情報を身体動作と外見の要因に分け,4つの条件を設定した.その4つの条件は,身体動作と外見を提示するビデオ条件,身体動作のみを提示するアバタ条件,外見のみを提示する写真条件,視覚情報を提示しない音声のみの条件である.我々はこれらの条件下で対話実験を行い,発話中に含まれる途切れ回数と発話速度を計測した.その結果,外見の提示の有無にかかわらず,身体動作の提示により途切れ回数が減少し発話速度が上昇していることが分かった.この結果は,身体動作の提示により音声コミュニケーションが円滑化されることを示しており,さらにアバタがビデオを代替する可能性が示唆された.
BibTeX:
@ARTICLE{尾上聡2013,
  author = {尾上聡 and 山本健太 and 田中一晶 and 中西英之},
  title = {遠隔対話者の身体動作の提示による音声コミュニケーションの円滑化},
  journal = {情報処理学会論文誌},
  year = {2013},
  volume = {54},
  pages = {1462--1469},
  number = {4},
  month = Apr,
  abstract = {遠隔地の対話者を視覚的に提示する方法として,ビデオ,アバタ,写真の3つの方法があげられる.しかし,これらの方法が音声コミュニケーションに与える効果を,観察データから明らかにしたという報告はない.我々はそのような観察データを得るために,1ターンの発話に含まれる途切れ回数と発話速度に着目した.そして,我々は音声コミュニケーションに対する視覚情報の有効性を示すため,提示する視覚情報を身体動作と外見の要因に分け,4つの条件を設定した.その4つの条件は,身体動作と外見を提示するビデオ条件,身体動作のみを提示するアバタ条件,外見のみを提示する写真条件,視覚情報を提示しない音声のみの条件である.我々はこれらの条件下で対話実験を行い,発話中に含まれる途切れ回数と発話速度を計測した.その結果,外見の提示の有無にかかわらず,身体動作の提示により途切れ回数が減少し発話速度が上昇していることが分かった.この結果は,身体動作の提示により音声コミュニケーションが円滑化されることを示しており,さらにアバタがビデオを代替する可能性が示唆された.},
  eabstract = {As methods to visually present a remote dialogue partner, there are
	video, avatar and photograph. However, there is no report that observational
	data showed an effect to audio communication by these methods. In
	order to obtain such data, we focused on the numbers of pauses included
	speech in audio communication and speech rate. We separated these
	methods into the factor of the partner's body motion and appearance,
	and thereby prepared four conditions: voice, photo, avatar and video.
	The video and the avatar conditions presented the body motion. The
	video and the photograph conditions presented the appearance. The
	audio condition didn't present either of them. We conducted an experiment
	in which the subjects spoke to the remote conversation partner under
	these conditions, and analyzed the number of pauses and the speech
	rate in the recorded speeches. As a result of the analyses, the presentation
	of the body motion reduced the number of pauses and increased the
	speech rate, regardless of the presentation of the appearance. These
	results indicate that the presentation of the body motion smoothens
	audio communication, and also imply the possibility that avatar replaces
	video.},
  etitle = {Smoothing Audio Communication via Presentation of a Remote Partner's
	Body Motion},
  keywords = {アバタ; ビデオ会議; 身体動作; 音声コミュニケーション},
}
港隆史, 境くりま, 西尾修一, 石黒浩, "運動錯視を利用した携帯型遠隔操作ヒューマノイドの運動表現", ヒューマンインタフェース学会論文誌, vol. 15, no. 1, pp. 51-62, February, 2013.
Abstract: A small (cellphone size) human-like robotic avatar in tele-communications will be a novel portable communication medium in that a user can talk with another person while feeling the other's presence at anytime, anywhere. The human-like robotic avatar is expected to express human-like movements; however, there are technical and cost problems to implement actuators in the small body. This paper proposes an idea to illusorily move the avatar's extremities with blinking lights. This idea needs only LEDs (Light Emitting Diodes) and avoids the above problems. This paper designs a LED blinking pattern to invoke a nodding motion of a hand-held tele-operated humanoid robot. A psychological experiment shows that the designed blinking pattern gives better impression to subjects than an symbolic blinking pattern. This result suggests that even the illusory motion of robotic avatar can improve tele-communications and it is suitable for human-like robotic avatars with respect to a minimally human-like motion expression.
BibTeX:
@Article{港隆史2012,
  author          = {港隆史 and 境くりま and 西尾修一 and 石黒浩},
  title           = {運動錯視を利用した携帯型遠隔操作ヒューマノイドの運動表現},
  journal         = {ヒューマンインタフェース学会論文誌},
  year            = {2013},
  volume          = {15},
  number          = {1},
  pages           = {51--62},
  month           = Feb,
  abstract        = {A small (cellphone size) human-like robotic avatar in tele-communications will be a novel portable communication medium in that a user can talk with another person while feeling the other's presence at anytime, anywhere. The human-like robotic avatar is expected to express human-like movements; however, there are technical and cost problems to implement actuators in the small body. This paper proposes an idea to illusorily move the avatar's extremities with blinking lights. This idea needs only LEDs (Light Emitting Diodes) and avoids the above problems. This paper designs a LED blinking pattern to invoke a nodding motion of a hand-held tele-operated humanoid robot. A psychological experiment shows that the designed blinking pattern gives better impression to subjects than an symbolic blinking pattern. This result suggests that even the illusory motion of robotic avatar can improve tele-communications and it is suitable for human-like robotic avatars with respect to a minimally human-like motion expression.},
  etitle          = {Visual Illusory Motion Design of a Hand-held Tele-operated Humanoid Robot for Effective Communication},
  eabstract       = {A small (cellphone size) human-like robotic avatar in tele-communications will be a novel portable communication medium in that a user can talk with another person while feeling the other's presence at anytime, anywhere. The human-like robotic avatar is expected to express human-like movements; however, there are technical and cost problems to implement actuators in the small body. This paper proposes an idea to illusorily move the avatar's extremities with blinking lights. This idea needs only LEDs (Light Emitting Diodes) and avoids the above problems. This paper designs a LED blinking pattern to invoke a nodding motion of a hand-held tele-operated humanoid robot. A psychological experiment shows that the designed blinking pattern gives better impression to subjects than an symbolic blinking pattern. This result suggests that even the illusory motion of robotic avatar can improve tele-communications and it is suitable for human-like robotic avatars with respect to a minimally human-like motion expression.},
  file            = {港隆史2012.pdf:pdf/港隆史2012.pdf:PDF},
  keywords        = {Robotic communication media; Tele-operated robot; Human-like motion; Illusory motion; Minimal design},
}
劉超然, 石井カルロス寿憲, 石黒浩, 萩田紀博, "人型コミュニケーションロボットのための首傾げ生成手法の提案および評価", 人工知能学会論文誌, vol. 28, no. 2, pp. 112-121, January, 2013.
Abstract: 人とロボットの自然な対話インタラクションを実現するには,ロボットも発話に伴って自然な頭部動作を行うことが重要である.本研究では,人の対面対話における頭部動作の分析結果に基づいて,談話機能の情報を利用した首傾げ生成モデルを提案した.この生成モデルを異なった種類の人型ロボットに応用して評価実験を行った結果,提案した首傾げ生成モデルは,頷きのみを生成したモデルに比べて自然な動作を生成する結果が得られた.また,口が動かないロボットの発話時の視覚情報が乏しいという問題の対策として,発話区間中に顔を上げる動作を追加したモデルを評価した.その結果,頷きのみの生成モデルでは,ロボットの動作がより自然な印象を与える結果となったが,首傾げ生成モデルの場合は,印象評定に有意差はみられなかった.さらに,被験者とロボットが実際に対面して対話インタラクションを行った場合の評価実験も行った結果,ビデオによる実験結果と同様の評価が得られた.また,すべての実験において,提案の首傾げ生成動作手法が,話者の動きをロボットに再現したオリジナルの動作に比べて高い評定を得たが,オリジナルの動作に視線情報も追加した場合,提案手法と匹敵する自然さの評定が得られた.
BibTeX:
@Article{劉超然2012a,
  author          = {劉超然 and 石井カルロス寿憲 and 石黒浩 and 萩田紀博},
  title           = {人型コミュニケーションロボットのための首傾げ生成手法の提案および評価},
  journal         = {人工知能学会論文誌},
  year            = {2013},
  volume          = {28},
  number          = {2},
  pages           = {112--121},
  month           = Jan,
  abstract        = {人とロボットの自然な対話インタラクションを実現するには,ロボットも発話に伴って自然な頭部動作を行うことが重要である.本研究では,人の対面対話における頭部動作の分析結果に基づいて,談話機能の情報を利用した首傾げ生成モデルを提案した.この生成モデルを異なった種類の人型ロボットに応用して評価実験を行った結果,提案した首傾げ生成モデルは,頷きのみを生成したモデルに比べて自然な動作を生成する結果が得られた.また,口が動かないロボットの発話時の視覚情報が乏しいという問題の対策として,発話区間中に顔を上げる動作を追加したモデルを評価した.その結果,頷きのみの生成モデルでは,ロボットの動作がより自然な印象を与える結果となったが,首傾げ生成モデルの場合は,印象評定に有意差はみられなかった.さらに,被験者とロボットが実際に対面して対話インタラクションを行った場合の評価実験も行った結果,ビデオによる実験結果と同様の評価が得られた.また,すべての実験において,提案の首傾げ生成動作手法が,話者の動きをロボットに再現したオリジナルの動作に比べて高い評定を得たが,オリジナルの動作に視線情報も追加した場合,提案手法と匹敵する自然さの評定が得られた.},
  url             = {https://www.jstage.jst.go.jp/article/tjsai/28/2/28_112/_article/-char/ja/},
  etitle          = {Proposal and Evaluation of a Head ilting Generation Method for Humanoid Communication Robot},
  eabstract       = {A Suitable control of head motion in robots synchronized with its utterances is important for having a smooth human-robot interaction. Based on rules inferred from analyses of the relationship between head motion and dialogue acts, this paper proposes a model for generating head tilting and evaluates the model using different types of humanoid robots. Analysis of subjective scores showed that the proposed model can generate head motion with increased naturalness compared to nodding only or directoly mapping people's original motions (without gaze information). We also found that an upward motion of the robot's face can be used by robots which do not have movable lips in order to provide the appearance that utterance is taking place. Finally, we evaluate the proposed model in a real human-robot interaction, by conducting an experiment in which participants act as visitors to an information desk attended by robots. The effects of gazing control were also taken into account when mapping the original motion to the robot. Evaluation results indicated that the proposed model performs equally to directly mapping people's original motion with gaze information, in terms of perceived naturalness.},
  file            = {劉超然2012a.pdf:pdf/劉超然2012a.pdf:PDF},
  keywords        = {head motion; dialogue acts; motion generation; human-robot interaction},
}
山本文香, 堀磨伊也, 岩井儀雄, 石黒浩, "事例データに基づく移動物体の抽出", 電子情報通信学会論文誌D, vol. J95-D, no. 8, pp. 1573-1584, August, 2012.
Abstract: 動画像から人などの移動物体を抽出するために背景差分法が広く用いられているが,背景色と同じ色をもつ物体領域を抽出できないという本質的問題が存在する.本論文では,背景差分により得られる人物領域に欠損が生じた画像に対して,事例データを用いることで欠損部を補完し,安定して人物領域を得る手法を提案する.事例データとして,人物領域に欠損を含んだパターンと欠損が補完された完全なパターンを組にしたものを使用する.そして,背景差分により人物領域に欠損が生じた場合に,事例データベースから似た欠損パターンを探し出し,その欠損パターンと組になっている完全な人物領域パターンを用いることで,人物領域の補完を行う.我々はこの補完処理を,入力画像上の欠損と人物領域パターンの関係をブロック単位で定式化し,最適化することで実現する.本手法を実画像に適用して得られる推定完全画像とその評価について報告する.
BibTeX:
@ARTICLE{山本文香2012,
  author = {山本文香 and 堀磨伊也 and 岩井儀雄 and 石黒浩},
  title = {事例データに基づく移動物体の抽出},
  journal = {電子情報通信学会論文誌D},
  year = {2012},
  volume = {J95-D},
  pages = {1573-1584},
  number = {8},
  month = Aug,
  abstract = {動画像から人などの移動物体を抽出するために背景差分法が広く用いられているが,背景色と同じ色をもつ物体領域を抽出できないという本質的問題が存在する.本論文では,背景差分により得られる人物領域に欠損が生じた画像に対して,事例データを用いることで欠損部を補完し,安定して人物領域を得る手法を提案する.事例データとして,人物領域に欠損を含んだパターンと欠損が補完された完全なパターンを組にしたものを使用する.そして,背景差分により人物領域に欠損が生じた場合に,事例データベースから似た欠損パターンを探し出し,その欠損パターンと組になっている完全な人物領域パターンを用いることで,人物領域の補完を行う.我々はこの補完処理を,入力画像上の欠損と人物領域パターンの関係をブロック単位で定式化し,最適化することで実現する.本手法を実画像に適用して得られる推定完全画像とその評価について報告する.},
}
田中一晶, 加藤慶, 中西英之, 石黒浩, "人の移動の表現方法:ズームカメラと移動ディスプレイによる社会的テレプレゼンスの向上", 情報処理学会論文誌, vol. 53, no. 4, pp. 1393-1400, April, 2012.
Abstract: 概要:遠隔地間の対話において対話者の移動を表現する方法として,(a) 対話者のカメラへの接近・後退, (b) カメラのズームイン・アウトによる対話者の映像の拡大・縮小,(c) 対話者を表示したディスプレイの 前進・後退の 3 通りが考えられる.本論文では,これらの方法を用いて対話者の移動を強調することで, 社会的テレプレゼンスが向上することを示す.これら 3 つの方法の関係と,これらの方法を用いることに よる社会的テレプレゼンスへの影響を明らかにするため,我々は被験者実験を行った.その結果,対話者 の移動と,対話者の移動に同期しないカメラのズームは社会的テレプレゼンスを低下させるが,対話者の 移動に同期したカメラのズームは社会的テレプレゼンスを向上させることが分かった.さらに,対話者の 移動に同期するかどうかにかかわらず,6 cm のディスプレイの移動が社会的テレプレゼンスを向上させる ことも分かった.
BibTeX:
@ARTICLE{田中一晶2012,
  author = {田中一晶 and 加藤慶 and 中西英之 and 石黒浩},
  title = {人の移動の表現方法:ズームカメラと移動ディスプレイによる社会的テレプレゼンスの向上},
  journal = {情報処理学会論文誌},
  year = {2012},
  volume = {53},
  pages = {1393--1400},
  number = {4},
  month = Apr,
  abstract = {概要:遠隔地間の対話において対話者の移動を表現する方法として,(a) 対話者のカメラへの接近・後退, (b) カメラのズームイン・アウトによる対話者の映像の拡大・縮小,(c)
	対話者を表示したディスプレイの 前進・後退の 3 通りが考えられる.本論文では,これらの方法を用いて対話者の移動を強調することで,
	社会的テレプレゼンスが向上することを示す.これら 3 つの方法の関係と,これらの方法を用いることに よる社会的テレプレゼンスへの影響を明らかにするため,我々は被験者実験を行った.その結果,対話者
	の移動と,対話者の移動に同期しないカメラのズームは社会的テレプレゼンスを低下させるが,対話者の 移動に同期したカメラのズームは社会的テレプレゼンスを向上させることが分かった.さらに,対話者の
	移動に同期するかどうかにかかわらず,6 cm のディスプレイの移動が社会的テレプレゼンスを向上させる ことも分かった.},
  eabstract = {There are three possible ways of representing a remote person’s movement
	toward the user in visual communication: a) the remote person’s movement
	toward the remote camera, b) the remote camera’s zooming in to enlarge
	the remote person’s picture, and c) a forward movement of the display
	that is dis- playing the remote person. This paper shows that a remote
	person’s positional movement that is augmented by using these three
	ways enhances social telepresence. We conducted an experiment to
	see the relationship among these three ways and the effects of these
	three ways on social telepresence. In the experiment, we observed
	that the remote person’s movement and the remote camera’s zooming
	lowered social telepresence. However, social telepresence was enhanced
	when both the person’s movement and the camera’s zooming occurred
	simultaneously. We also observed that a 6-centimeter movement of
	the display enhanced social telepresence, whether the movement synchronized
	with the remote person’s movement or not.},
  etitle = {Representation of Human Movement: Enhancing Social Telepresence by
	Zoom Cameras and Movable Displays},
  file = {田中一晶2012.pdf:田中一晶2012.pdf:PDF},
  keywords = {社会的テレプレゼンス; ビデオ会議; テレロボティクス},
}
Kohei Ogawa, Shuichi Nishio, Kensuke Koda, Giuseppe Balistreri, Tetsuya Watanabe, Hiroshi Ishiguro, "Exploring the Natural Reaction of Young and Aged Person with Telenoid in a Real World", Journal of Advanced Computational Intelligence and Intelligent Informatics, vol. 15, no. 5, pp. 592-597, July, 2011.
Abstract: This paper describes two field tests conducted with shopping mall visitors and with aged persons defined as in their 70s to 90s. For both of the field tests, we used an android we developed called Telenoid R1 or just Telenoid. In the following field tests we interviewed participants about their impressions of the Telenoid. The results of the shopping mall showed that almost half of the interviewees felt negative toward Telenoid until they hugged it, after which opinions became positive. Results of the other test showed that the majority of aged persons reported a positive opinion and, interestingly, all aged persons who interacted with Telenoid gave it a hug without any suggestion to do so. This suggests that older persons find Telenoid to be acceptable medium for the elderly. Younger persons may also find Telenoid acceptable, seeing that visitors developed positive feelings toward the robot after giving it a hug. These results should prove valuable in our future work with androids.
BibTeX:
@Article{Ogawa2011,
  author          = {Kohei Ogawa and Shuichi Nishio and Kensuke Koda and Giuseppe Balistreri and Tetsuya Watanabe and Hiroshi Ishiguro},
  title           = {Exploring the Natural Reaction of Young and Aged Person with Telenoid in a Real World},
  journal         = {Journal of Advanced Computational Intelligence and Intelligent Informatics},
  year            = {2011},
  volume          = {15},
  number          = {5},
  pages           = {592--597},
  month           = Jul,
  abstract        = {This paper describes two field tests conducted with shopping mall visitors and with aged persons defined as in their 70s to 90s. For both of the field tests, we used an android we developed called Telenoid R1 or just Telenoid. In the following field tests we interviewed participants about their impressions of the Telenoid. The results of the shopping mall showed that almost half of the interviewees felt negative toward Telenoid until they hugged it, after which opinions became positive. Results of the other test showed that the majority of aged persons reported a positive opinion and, interestingly, all aged persons who interacted with Telenoid gave it a hug without any suggestion to do so. This suggests that older persons find Telenoid to be acceptable medium for the elderly. Younger persons may also find Telenoid acceptable, seeing that visitors developed positive feelings toward the robot after giving it a hug. These results should prove valuable in our future work with androids.},
  url             = {http://www.fujipress.jp/finder/xslt.php?mode=present&inputfile=JACII001500050012.xml},
  file            = {Ogawa2011.pdf:Ogawa2011.pdf:PDF},
  keywords        = {Telenoid; Geminoid; human robot interaction},
}
会議発表(査読あり)
Hidenobu Sumioka, Soheil Keshmiri, Junya Nakanishi, "Potential impact of Listening Support for Individuals with Developmental Disorders through A Huggable Communication Medium", In the 6th annual International Conference on Human-Agent Interaction (HAI2018), Southampton, UK, December, 2018.
Abstract: The 6th annual International Conference on Human-Agent Interaction aims to be the premier interdisciplinary venue for discussing and disseminating state-of-the-art research and results that reach across conventional interaction boundaries from people to a wide range of intelligent systems, including physical robots, software agents and digitally-mediated human-human communication. HAI focusses on technical as well as social aspects.
BibTeX:
@Inproceedings{Sumioka2018b,
  author    = {Hidenobu Sumioka and Soheil Keshmiri and Junya Nakanishi},
  title     = {Potential impact of Listening Support for Individuals with Developmental Disorders through A Huggable Communication Medium},
  booktitle = {the 6th annual International Conference on Human-Agent Interaction (HAI2018)},
  year      = {2018},
  address   = {Southampton, UK},
  month     = Dec,
  day       = {15-18},
  url       = {http://hai-conference.net/hai2018/},
  abstract  = {The 6th annual International Conference on Human-Agent Interaction aims to be the premier interdisciplinary venue for discussing and disseminating state-of-the-art research and results that reach across conventional interaction boundaries from people to a wide range of intelligent systems, including physical robots, software agents and digitally-mediated human-human communication. HAI focusses on technical as well as social aspects.},
}
Jakub Zlotowski, Hidenobu Sumioka, Christoph Bartneck, Shuichi Nishio, Hiroshi Ishiguro, "Understanding Anthropomorphism: Anthropomorphism is not a Reverse Process of Dehumanization", In The Ninth International Conference on Social Robotics (ICSR 2017), Tsukuba, Japan, pp. 618-627, November, 2017.
Abstract: Anthropomorphism plays an important role in affecting human interaction with a robot. However, our understanding of this process is still limited. We argue that it is not possible to understand anthropomorphism without understanding what is humanness. In the previous research, we proposed to look at the work on dehumanization in order to understand what factors can affect a robot's anthropomorphism. Moreover, considering that there are two distinct dimensions of humanness, a two-dimensional model of anthropomorphism was proposed. We conducted a study in which we manipulated the perceived intentionality of a robot and its appearance, and measured how they affected the anthropomorphization of a robot on two dimensions of humanness and its perceived moral agency. The results do not support a two-dimensional model of anthropomorphism and indicate that the distinction between positive and negative traits may be more relevant in HRI studies in Japan.
BibTeX:
@Inproceedings{Zlotowski2017a,
  author    = {Jakub Zlotowski and Hidenobu Sumioka and Christoph Bartneck and Shuichi Nishio and Hiroshi Ishiguro},
  title     = {Understanding Anthropomorphism: Anthropomorphism is not a Reverse Process of Dehumanization},
  booktitle = {The Ninth International Conference on Social Robotics (ICSR 2017)},
  year      = {2017},
  series    = {LNAI 10652},
  pages     = {618-627},
  address   = {Tsukuba, Japan},
  month     = Nov,
  day       = {22-24},
  doi       = {10.1007/978-3-319-70022-9_61},
  url       = {http://www.icsr2017.org/index.html},
  abstract  = {Anthropomorphism plays an important role in affecting human interaction with a robot. However, our understanding of this process is still limited. We argue that it is not possible to understand anthropomorphism without understanding what is humanness. In the previous research, we proposed to look at the work on dehumanization in order to understand what factors can affect a robot's anthropomorphism. Moreover, considering that there are two distinct dimensions of humanness, a two-dimensional model of anthropomorphism was proposed. We conducted a study in which we manipulated the perceived intentionality of a robot and its appearance, and measured how they affected the anthropomorphization of a robot on two dimensions of humanness and its perceived moral agency. The results do not support a two-dimensional model of anthropomorphism and indicate that the distinction between positive and negative traits may be more relevant in HRI studies in Japan.},
  file      = {Zlotowski2017a.pdf:pdf/Zlotowski2017a.pdf:PDF},
}
Kurima Sakai, Carlos T. Ishi, Takashi Minato, Hiroshi Ishiguro, "Online speech-driven head motion generating system and evaluation on a tele-operated robot", In IEEE International Symposium on Robot and Human Interactive Communication, Kobe, Japan, pp. 529-534, August, 2015.
Abstract: We developed a tele-operated robot system where the head motions of the robot are controlled by combining those of the operator with the ones which are automatically generated from the operator's voice. The head motion generation is based on dialogue act functions which are estimated from linguistic and prosodic information extracted from the speech signal. The proposed system was evaluated through an experiment where participants interact with a tele-operated robot. Subjective scores indicated the effectiveness of the proposed head motion generation system, even under limitations in the dialogue act estimation
BibTeX:
@Inproceedings{Sakai2015,
  author    = {Kurima Sakai and Carlos T. Ishi and Takashi Minato and Hiroshi Ishiguro},
  title     = {Online speech-driven head motion generating system and evaluation on a tele-operated robot},
  booktitle = {IEEE International Symposium on Robot and Human Interactive Communication},
  year      = {2015},
  pages     = {529-534},
  address   = {Kobe, Japan},
  month     = AUG,
  abstract  = {We developed a tele-operated robot system where the head motions of the robot are controlled by combining those of the operator with the ones which are automatically generated from the operator's voice. The head motion generation is based on dialogue act functions which are estimated from linguistic and prosodic information extracted from the speech signal. The proposed system was evaluated through an experiment where participants interact with a tele-operated robot. Subjective scores indicated the effectiveness of the proposed head motion generation system, even under limitations in the dialogue act estimation},
  file      = {Sakai2015.pdf:pdf/Sakai2015.pdf:PDF},
}
Junya Nakanishi, Hidenobu Sumioka, Kurima Sakai, Daisuke Nakamichi, Masahiro Shiomi, Hiroshi Ishiguro, "Huggable Communication Medium Encourages Listening to Others", In 2nd International Conference on Human-Agent Interraction, Tsukuba, Japan, pp. pp 249-252, October, 2014.
Abstract: We propose that a huggable communication device helps children concentrate on listening to others by reducing their stress and feeling a storyteller's presence close to them. Our observation of storytelling to preschool children suggests that Hugvie, which is one of such devices, facilitates children's attention to the story. This indicates the usefulness of Hugvie to relieve the educational problem that children show selfish behavior during class. We discuss Hugvie's effect on learning and memory and potential application to children with special support.
BibTeX:
@Inproceedings{Nakanishi2014,
  author    = {Junya Nakanishi and Hidenobu Sumioka and Kurima Sakai and Daisuke Nakamichi and Masahiro Shiomi and Hiroshi Ishiguro},
  title     = {Huggable Communication Medium Encourages Listening to Others},
  booktitle = {2nd International Conference on Human-Agent Interraction},
  year      = {2014},
  pages     = {pp 249-252},
  address   = {Tsukuba, Japan},
  month     = OCT,
  url       = {http://hai-conference.net/hai2014/},
  abstract  = {We propose that a huggable communication device helps children concentrate on listening to others by reducing their stress and feeling a storyteller's presence close to them. Our observation of storytelling to preschool children suggests that Hugvie, which is one of such devices, facilitates children's attention to the story. This indicates the usefulness of Hugvie to relieve the educational problem that children show selfish behavior during class. We discuss Hugvie's effect on learning and memory and potential application to children with special support.},
  file      = {Nakanishi2014.pdf:pdf/Nakanishi2014.pdf:PDF},
}
Daisuke Nakamichi, Shuichi Nishio, Hiroshi Ishiguro, "Training of telecommunication through teleoperated android "Telenoid" and its effect", In The 23rd IEEE International Symposium on Robot and Human Interactive Communication, Edinburgh, Scotland, UK, pp. 1083-1088, August, 2014.
Abstract: Telenoid, a teleoperated android is a medium through which its teleoperators can transmit both verbal and nonverbal information to interlocutors. Telenoid promotes conversation with its interlocutors, especially elderly people. But since teleoperators admit that they have difficulty feeling that they are actually teleoperating their robots, they can't use them effectively to transmit nonverbal information; such nonverbal information is one of Telenoid's biggest merits. In this paper, we propose a training program for teleoperators so that they can understand Telenoid's teleoperation and how to transmit nonverbal information through it. We investigated its effect on teleoperation and communication and identified three results. First, our training improved Telenoid's head motions for clearer transmission of nonverbal information. Second, our training found different effects between genders. Females communicated with their interlocutors more smoothly than males. Males communicated with their interlocutors more smoothly by simply more talking practice. Third, correlations exist among freely controlling the robot, regarding the robot as themselves, and tele-presence in the interlocutors room as well as correlations between the interactions and themselves. But there are not correlations between feelings about Telenoids teleoperation and the head movements.
BibTeX:
@Inproceedings{Nakamichi2014,
  author          = {Daisuke Nakamichi and Shuichi Nishio and Hiroshi Ishiguro},
  title           = {Training of telecommunication through teleoperated android "Telenoid" and its effect},
  booktitle       = {The 23rd IEEE International Symposium on Robot and Human Interactive Communication},
  year            = {2014},
  pages           = {1083-1088},
  address         = {Edinburgh, Scotland, UK},
  month           = Aug,
  day             = {25-29},
  url             = {http://rehabilitationrobotics.net/ro-man14/},
  abstract        = {Telenoid, a teleoperated android is a medium through which its teleoperators can transmit both verbal and nonverbal information to interlocutors. Telenoid promotes conversation with its interlocutors, especially elderly people. But since teleoperators admit that they have difficulty feeling that they are actually teleoperating their robots, they can't use them effectively to transmit nonverbal information; such nonverbal information is one of Telenoid's biggest merits. In this paper, we propose a training program for teleoperators so that they can understand Telenoid's teleoperation and how to transmit nonverbal information through it. We investigated its effect on teleoperation and communication and identified three results. First, our training improved Telenoid's head motions for clearer transmission of nonverbal information. Second, our training found different effects between genders. Females communicated with their interlocutors more smoothly than males. Males communicated with their interlocutors more smoothly by simply more talking practice. Third, correlations exist among freely controlling the robot, regarding the robot as themselves, and tele-presence in the interlocutors room as well as correlations between the interactions and themselves. But there are not correlations between feelings about Telenoids teleoperation and the head movements.},
  file            = {Nakamichi2014.pdf:pdf/Nakamichi2014.pdf:PDF},
}
Kaiko Kuwamura, Shuichi Nishio, Hiroshi Ishiguro, "Designing Robots for Positive Communication with Senior Citizens", In The 13th Intelligent Autonomous Systems conference, Padova, Italy, July, 2014.
Abstract: Several previous researches indicated that the elderly, especially those with cognitive disorders, have positive impressions of Telenoid, a teleoperated android covered with soft vinyl. Senior citizens with cognitive disorders have low cognitive ability and duller senses due to their age. To communicate, we believe that they have to imagine the information that is missing because they failed to completely receive it in their mind. We hypothesize that Telenoid triggers and enhances such an ability to imagine and positively complete the information, and so they become attracted to Telenoid. Based on this hypothesis, we discuss the factors that trigger imagination and complete positive impressions toward a robot for elderly care.
BibTeX:
@Inproceedings{Kuwamura2014c,
  author          = {Kaiko Kuwamura and Shuichi Nishio and Hiroshi Ishiguro},
  title           = {Designing Robots for Positive Communication with Senior Citizens},
  booktitle       = {The 13th Intelligent Autonomous Systems conference},
  year            = {2014},
  address         = {Padova, Italy},
  month           = Jul,
  day             = {15-19},
  url             = {http://www.ias-13.org/},
  abstract        = {Several previous researches indicated that the elderly, especially those with cognitive disorders, have positive impressions of Telenoid, a teleoperated android covered with soft vinyl. Senior citizens with cognitive disorders have low cognitive ability and duller senses due to their age. To communicate, we believe that they have to imagine the information that is missing because they failed to completely receive it in their mind. We hypothesize that Telenoid triggers and enhances such an ability to imagine and positively complete the information, and so they become attracted to Telenoid. Based on this hypothesis, we discuss the factors that trigger imagination and complete positive impressions toward a robot for elderly care.},
  file            = {Kuwamura2014c.pdf:pdf/Kuwamura2014c.pdf:PDF},
}
Rosario Sorbello, Antonio Chella, Marcello Giardina, Shuichi Nishio, Hiroshi Ishiguro, "An Architecture for Telenoid Robot as Empathic Conversational Android Companion for Elderly People", In the 13th International Conference on Intelligent Autonomous Systems, Padova, Italy, July, 2014.
Abstract: In Human-Humanoid Interaction (HHI), empathy is a crucial key in order to overcome the current limitations of social robots. In facts, a principal de ning characteristic of human social behaviour is empathy. The present paper presents a robotic architecture for an android robot as a basis for natural empathic human-android interaction. We start from the hypothesis that the robots, in order to become personal companions need to know how to empathic interact with human beings. To validate our research, we have used the proposed system with the minimalistic humanoid robot Telenoid. We have conducted human-robot interactions test with elderly people with no prior interaction experience with robot. During the experiment the elderly persons engaged a stimulated conversation with the humanoid robot. Our goal is to overcome the state of loneliness of elderly people using this minimalistic humanoid robot capa- ble to exhibit a dialogue similar to what usually happens in the real life between human beings.The experimental results have shown a humanoid robotic system capable to exhibit a natural and empathic interaction and conversation with a human user.
BibTeX:
@Inproceedings{Sorbello2014,
  author    = {Rosario Sorbello and Antonio Chella and Marcello Giardina and Shuichi Nishio and Hiroshi Ishiguro},
  title     = {An Architecture for Telenoid Robot as Empathic Conversational Android Companion for Elderly People},
  booktitle = {the 13th International Conference on Intelligent Autonomous Systems},
  year      = {2014},
  address   = {Padova, Italy},
  month     = Jul,
  day       = {15-19},
  abstract  = {In Human-Humanoid Interaction (HHI), empathy is a crucial key in order to overcome the current limitations of social robots. In facts, a principal dening characteristic of human social behaviour is empathy. The present paper presents a robotic architecture for an android robot as a basis for natural empathic human-android interaction. We start from the hypothesis that the robots, in order to become personal companions need to know how to empathic interact with human beings. To validate our research, we have used the proposed system with the minimalistic humanoid robot Telenoid. We have conducted human-robot interactions test with elderly people with no prior interaction experience with robot. During the experiment the elderly persons engaged a stimulated conversation with the humanoid robot. Our goal is to overcome the state of loneliness of elderly people using this minimalistic humanoid robot capa- ble to exhibit a dialogue similar to what usually happens in the real life between human beings.The experimental results have shown a humanoid robotic system capable to exhibit a natural and empathic interaction and conversation with a human user.},
  file      = {Sorbello2014.pdf:pdf/Sorbello2014.pdf:PDF},
  keywords  = {Humanoid Robot; Humanoid Robot Interaction; Life Support Empathic Robot; Telenoid},
}
Kaiko Kuwamura, Ryuji Yamazaki, Shuichi Nishio, Hiroshi Ishiguro, "Elderly Care Using Teleoperated Android Telenoid", In The 9th World Conference of Gerontechnology, vol. 13, no. 2, Taipei, Taiwan, pp. 226, June, 2014.
BibTeX:
@Inproceedings{Kuwamura2014,
  author    = {Kaiko Kuwamura and Ryuji Yamazaki and Shuichi Nishio and Hiroshi Ishiguro},
  title     = {Elderly Care Using Teleoperated Android Telenoid},
  booktitle = {The 9th World Conference of Gerontechnology},
  year      = {2014},
  volume    = {13},
  number    = {2},
  pages     = {226},
  address   = {Taipei, Taiwan},
  month     = Jun,
  day       = {18-21},
  doi       = {10.4017/gt.2014.13.02.091.00},
  url       = {http://gerontechnology.info/index.php/journal/article/view/gt.2014.13.02.091.00},
  file      = {Kuwamura2014.pdf:pdf/Kuwamura2014.pdf:PDF},
  keywords  = {Elderly care robot; teleoperated android; cognitive disorder},
}
Ryuji Yamazaki, Kaiko Kuwamura, Shuichi Nishio, Takashi Minato, Hiroshi Ishiguro, "Activating Embodied Communication: A Case Study of People with Dementia Using a Teleoperated Android Robot", In The 9th World Conference of Gerontechnology, vol. 13, no. 2, Taipei, Taiwan, pp. 311, June, 2014.
BibTeX:
@Inproceedings{Yamazaki2014a,
  author    = {Ryuji Yamazaki and Kaiko Kuwamura and Shuichi Nishio and Takashi Minato and Hiroshi Ishiguro},
  title     = {Activating Embodied Communication: A Case Study of People with Dementia Using a Teleoperated Android Robot},
  booktitle = {The 9th World Conference of Gerontechnology},
  year      = {2014},
  volume    = {13},
  number    = {2},
  pages     = {311},
  address   = {Taipei, Taiwan},
  month     = Jun,
  day       = {18-21},
  doi       = {10.4017/gt.2014.13.02.166.00},
  url       = {http://gerontechnology.info/index.php/journal/article/view/gt.2014.13.02.166.00/0},
  file      = {Yamazaki2014a.pdf:pdf/Yamazaki2014a.pdf:PDF},
  keywords  = {Elderly care robot; social isolation; embodied communication; community design},
}
Carlos T. Ishi, Hiroaki Hatano, Miyako Kiso, "Acoustic-prosodic and paralinguistic analyses of “uun" and “unun"", In Speech Prosody 7, Dublin, Ireland, pp. 100-104, May, 2014.
Abstract: The speaking style of an interjection contains discriminative features on its expressed intention, attitude or emotion. In the present work, we analyzed acoustic-prosodic features and the paralinguistic functions of two variations of the interjection “un", a lengthened pattern “uun" and a repeated pattern “unun", which are often found in Japanese conversational speech. Analysis results indicate that there are differences in the paralinguistic function expressed by “uun" and “unun", as well as different trends on F0 contour types according to the conveyed paralinguistic information.
BibTeX:
@Inproceedings{Ishi2014,
  author          = {Carlos T. Ishi and Hiroaki Hatano and Miyako Kiso},
  title           = {Acoustic-prosodic and paralinguistic analyses of “uun" and “unun"},
  booktitle       = {Speech Prosody 7},
  year            = {2014},
  pages           = {100-104},
  address         = {Dublin, Ireland},
  month           = May,
  day             = {20-23},
  abstract        = {The speaking style of an interjection contains discriminative features on its expressed intention, attitude or emotion. In the present work, we analyzed acoustic-prosodic features and the paralinguistic functions of two variations of the interjection “un", a lengthened pattern “uun" and a repeated pattern “unun", which are often found in Japanese conversational speech. Analysis results indicate that there are differences in the paralinguistic function expressed by “uun" and “unun", as well as different trends on F0 contour types according to the conveyed paralinguistic information.},
  file            = {Ishi2014.pdf:pdf/Ishi2014.pdf:PDF},
  keywords        = {interjections; acoustic-prosodic features; paralinguistic information; spontaneous conversational speech},
}
Kaiko Kuwamura, Shuichi Nishio, "Modality reduction for enhancing human likeliness", In Selected papers of the 50th annual convention of the Artificial Intelligence and the Simulation of Behaviour, London, UK, pp. 83-89, April, 2014.
Abstract: We proposed a method to enhance one's affection by reducing number of transferred modalities. When we dream of an artificial partner for “love", its appearance is the first thing of con- cern; a very humanlike, beautiful robot. However, we did not design a medium with a beautiful appearance but a medium which ignores the appearance and let users imagine and complete the appearance. By reducing the number of transferred modalities, we can enhance one's affection toward a robot. Moreover, not just by transmitting, but by inducing active, unconscious behavior of users, we can increase this effect. In this paper, we will introduce supporting results from our experiments and discuss further applicability of our findings.
BibTeX:
@Inproceedings{Kuwamura2014b,
  author          = {Kaiko Kuwamura and Shuichi Nishio},
  title           = {Modality reduction for enhancing human likeliness},
  booktitle       = {Selected papers of the 50th annual convention of the Artificial Intelligence and the Simulation of Behaviour},
  year            = {2014},
  pages           = {83-89},
  address         = {London, UK},
  month           = Apr,
  day             = {1-4},
  url             = {http://doc.gold.ac.uk/aisb50/AISB50-S16/AISB50-S16-Kuwamura-paper.pdf},
  abstract        = {We proposed a method to enhance one's affection by reducing number of transferred modalities. When we dream of an artificial partner for “love", its appearance is the first thing of con- cern; a very humanlike, beautiful robot. However, we did not design a medium with a beautiful appearance but a medium which ignores the appearance and let users imagine and complete the appearance. By reducing the number of transferred modalities, we can enhance one's affection toward a robot. Moreover, not just by transmitting, but by inducing active, unconscious behavior of users, we can increase this effect. In this paper, we will introduce supporting results from our experiments and discuss further applicability of our findings.},
  file            = {Kuwamura2014b.pdf:pdf/Kuwamura2014b.pdf:PDF},
}
Junya Nakanishi, Kaiko Kuwamura, Takashi Minato, Shuichi Nishio, Hiroshi Ishiguro, "Evoking Affection for a Communication Partner by a Robotic Communication Medium", In the First International Conference on Human-Agent Interaction, Hokkaido University, Sapporo, Japan, pp. III-1-4, August, 2013.
Abstract: This paper reveals a new effect of robotic communication media that can function as avatars of communication partners. Users interaction with a medium may alter feelings their toward partners. The paper hypothesized that talking while hugging a robotic medium increases romantic feelings or attraction toward a partner in robot-mediated tele-communication. Our experiment used Hugvie, a human-shaped medium, for talking in a hugging state. We found that people subconsciously increased their romantic attraction toward opposite sex partners by hugging Hugvie. This resultant effect is novel because we revealed the effect of user hugging on the user's own feelings instead of being hugged by a partner.
BibTeX:
@Inproceedings{Nakanishi2013,
  author          = {Junya Nakanishi and Kaiko Kuwamura and Takashi Minato and Shuichi Nishio and Hiroshi Ishiguro},
  title           = {Evoking Affection for a Communication Partner by a Robotic Communication Medium},
  booktitle       = {the First International Conference on Human-Agent Interaction},
  year            = {2013},
  pages           = {III-1-4},
  address         = {Hokkaido University, Sapporo, Japan},
  month           = Aug,
  day             = {7-9},
  url             = {http://hai-conference.net/ihai2013/proceedings/html/paper/paper-III-1-4.html},
  abstract        = {This paper reveals a new effect of robotic communication media that can function as avatars of communication partners. Users interaction with a medium may alter feelings their toward partners. The paper hypothesized that talking while hugging a robotic medium increases romantic feelings or attraction toward a partner in robot-mediated tele-communication. Our experiment used Hugvie, a human-shaped medium, for talking in a hugging state. We found that people subconsciously increased their romantic attraction toward opposite sex partners by hugging Hugvie. This resultant effect is novel because we revealed the effect of user hugging on the user's own feelings instead of being hugged by a partner.},
  file            = {Nakanishi2013.pdf:pdf/Nakanishi2013.pdf:PDF},
}
Kaiko Kuwamura, Kurima Sakai, Takashi Minato, Shuichi Nishio, Hiroshi Ishiguro, "Hugvie: A medium that fosters love", In IEEE International Symposium on Robot and Human Interactive Communication, Gyeongju, Korea, pp. 70-75, August, 2013.
Abstract: We introduce a communication medium that en- courages users to fall in love with their counterparts. Hugvie, the huggable tele-presence medium, enables users to feel like hugging their counterparts while chatting. In this paper, we report that when a participant talks to his communication partner during their first encounter while hugging Hugvie, he mistakenly feels as if they are establishing a good relationship and that he is being loved rather than just being liked.
BibTeX:
@Inproceedings{Kuwamura2013,
  author          = {Kaiko Kuwamura and Kurima Sakai and Takashi Minato and Shuichi Nishio and Hiroshi Ishiguro},
  title           = {Hugvie: A medium that fosters love},
  booktitle       = {{IEEE} International Symposium on Robot and Human Interactive Communication},
  year            = {2013},
  pages           = {70-75},
  address         = {Gyeongju, Korea},
  month           = Aug,
  day             = {26-29},
  doi             = {10.1109/ROMAN.2013.6628533},
  abstract        = {We introduce a communication medium that en- courages users to fall in love with their counterparts. Hugvie, the huggable tele-presence medium, enables users to feel like hugging their counterparts while chatting. In this paper, we report that when a participant talks to his communication partner during their first encounter while hugging Hugvie, he mistakenly feels as if they are establishing a good relationship and that he is being loved rather than just being liked.},
  file            = {Kuwamura2013.pdf:pdf/Kuwamura2013.pdf:PDF},
}
Shuichi Nishio, Koichi Taura, Hidenobu Sumioka, Hiroshi Ishiguro, "Effect of Social Interaction on Body Ownership Transfer to Teleoperated Android", In IEEE International Symposium on Robot and Human Interactive Communication, Gyeonguju, Korea, pp. 565-570, August, 2013.
Abstract: Body Ownership Transfer (BOT) is an illusion that we feel external objects as parts of our own body that occurs when teleoperating android robots. In past studies, we have been investigating under what conditions this illusion occurs. However, past studies were only conducted with simple operation tasks such as by only moving the robot's hand. Does this illusion occur under much complex tasks such as having a conversation? What kind of conversation setting is required to invoke this illusion? In this paper, we examined how factors in social interaction affects occurrence of BOT. Participants had conversation using the teleoperated robot under different situations and teleoperation settings. The results revealed that BOT does occur by the act of having a conversation, and that conversation partner's presence and appropriate responses are necessary for enhancement of BOT.
BibTeX:
@Inproceedings{Nishio2013,
  author          = {Shuichi Nishio and Koichi Taura and Hidenobu Sumioka and Hiroshi Ishiguro},
  title           = {Effect of Social Interaction on Body Ownership Transfer to Teleoperated Android},
  booktitle       = {{IEEE} International Symposium on Robot and Human Interactive Communication},
  year            = {2013},
  pages           = {565-570},
  address         = {Gyeonguju, Korea},
  month           = Aug,
  day             = {26-29},
  doi             = {10.1109/ROMAN.2013.6628539},
  abstract        = {Body Ownership Transfer (BOT) is an illusion that we feel external objects as parts of our own body that occurs when teleoperating android robots. In past studies, we have been investigating under what conditions this illusion occurs. However, past studies were only conducted with simple operation tasks such as by only moving the robot's hand. Does this illusion occur under much complex tasks such as having a conversation? What kind of conversation setting is required to invoke this illusion? In this paper, we examined how factors in social interaction affects occurrence of BOT. Participants had conversation using the teleoperated robot under different situations and teleoperation settings. The results revealed that BOT does occur by the act of having a conversation, and that conversation partner's presence and appropriate responses are necessary for enhancement of BOT.},
  file            = {Nishio2013.pdf:pdf/Nishio2013.pdf:PDF},
}
Hidenobu Sumioka, Kensuke Koda, Shuichi Nishio, Takashi Minato, Hiroshi Ishiguro, "Revisiting ancient design of human form for communication avatar: Design considerations from chronological development of Dogu", In IEEE International Symposium on Robot and Human Interactive Communication, Gyeongju, Korea, pp. 726-731, August, 2013.
Abstract: Robot avatar systems give the feeling we share a space with people who are actually at a distant location. Since our cognitive system specializes in recognizing a human, avatars of the distant people can make us strongly feel that we share space with them, provided that their appearance has been designed to sufficiently resemble humans. In this paper, we investigate the minimal requirements of robot avatars for distant people to feel their presence, Toward this aim, we give an overview of the chronological development of Dogu, which are human figurines made in ancient Japan. This survey of the Dogu shows that the torso, not the face, was considered the primary element for representing a human. It also suggests that some body parts can be represented in a simple form. Following the development of Dogu, we also use a conversation task to examine what kind of body representation is necessary to feel a distant person's presence. The experimental results show that the forms for the torso and head are required to enhance this feeling, while other body parts have less impact. We discuss the connection between our findings and an avatar's facial expression and motion.
BibTeX:
@Inproceedings{Sumioka2013b,
  author          = {Hidenobu Sumioka and Kensuke Koda and Shuichi Nishio and Takashi Minato and Hiroshi Ishiguro},
  title           = {Revisiting ancient design of human form for communication avatar: Design considerations from chronological development of Dogu},
  booktitle       = {{IEEE} International Symposium on Robot and Human Interactive Communication},
  year            = {2013},
  pages           = {726-731},
  address         = {Gyeongju, Korea},
  month           = Aug,
  day             = {26-29},
  doi             = {10.1109/ROMAN.2013.6628399},
  abstract        = {Robot avatar systems give the feeling we share a space with people who are actually at a distant location. Since our cognitive system specializes in recognizing a human, avatars of the distant people can make us strongly feel that we share space with them, provided that their appearance has been designed to sufficiently resemble humans. In this paper, we investigate the minimal requirements of robot avatars for distant people to feel their presence, Toward this aim, we give an overview of the chronological development of Dogu, which are human figurines made in ancient Japan. This survey of the Dogu shows that the torso, not the face, was considered the primary element for representing a human. It also suggests that some body parts can be represented in a simple form. Following the development of Dogu, we also use a conversation task to examine what kind of body representation is necessary to feel a distant person's presence. The experimental results show that the forms for the torso and head are required to enhance this feeling, while other body parts have less impact. We discuss the connection between our findings and an avatar's facial expression and motion.},
  file            = {Sumioka2013b.pdf:pdf/Sumioka2013b.pdf:PDF},
}
Yu Tsuruda, Maiya Hori, Hiroki Yoshimura, Yoshio Iwai, "Generation of Facial Expression Emphasized with Cartoon Techniques Using a Cellular-phone-type Teleoperated Robot with a Mobile Projector", In International Conference on Human-Computer Interaction (HCI 2013), Human-Computer Interaction. Towards Intelligent and Implicit Interaction, Springer Berlin Heidelberg, vol. 8008, Las Vegas, NV, USA, pp. 391-400, July, 2013.
Abstract: We propose a method for generating facial expressions emphasized with cartoon techniques using a cellular-phone-type teleoperated android with a mobile projector. Elfoid is designed to transmit the speaker’s presence to their communication partner using a camera and microphone, and has a soft exterior that provides the look and feel of human skin. To transmit the speaker’s presence, Elfoid sends not only the voice of the speaker but also emotional information captured by the camera and microphone. Elfoid cannot, however, display facial expressions because of its compactness and a lack of sufficiently small actuator motors. In this research, facial expressions are generated using Elfoid’s head-mounted mobile projector to overcome the problem. Additionally, facial expressions are emphasized using cartoon techniques: movements around the mouth and eyes are emphasized, the silhouette of the face and shapes of the eyes are varied by projection effects, and color stimuli that induce a particular emotion are added. In an experiment, representative face expressions are generated with Elfoid and emotions conveyed to users are investigated by subjective evaluation.
BibTeX:
@INPROCEEDINGS{Tsuruda2013,
  author = {Yu Tsuruda and Maiya Hori and Hiroki Yoshimura and Yoshio Iwai},
  title = {Generation of Facial Expression Emphasized with Cartoon Techniques
	Using a Cellular-phone-type Teleoperated Robot with a Mobile Projector},
  booktitle = {International Conference on Human-Computer Interaction (HCI 2013),
	Human-Computer Interaction. Towards Intelligent and Implicit Interaction},
  year = {2013},
  volume = {8008},
  pages = {391-400},
  address = {Las Vegas, NV, USA},
  month = Jul,
  publisher = {Springer Berlin Heidelberg},
  abstract = {We propose a method for generating facial expressions emphasized with
	cartoon techniques using a cellular-phone-type teleoperated android
	with a mobile projector. Elfoid is designed to transmit the speaker’s
	presence to their communication partner using a camera and microphone,
	and has a soft exterior that provides the look and feel of human
	skin. To transmit the speaker’s presence, Elfoid sends not only the
	voice of the speaker but also emotional information captured by the
	camera and microphone. Elfoid cannot, however, display facial expressions
	because of its compactness and a lack of sufficiently small actuator
	motors. In this research, facial expressions are generated using
	Elfoid’s head-mounted mobile projector to overcome the problem. Additionally,
	facial expressions are emphasized using cartoon techniques: movements
	around the mouth and eyes are emphasized, the silhouette of the face
	and shapes of the eyes are varied by projection effects, and color
	stimuli that induce a particular emotion are added. In an experiment,
	representative face expressions are generated with Elfoid and emotions
	conveyed to users are investigated by subjective evaluation.},
  day = {21-26},
  doi = {10.1007/978-3-642-39342-6_43},
  file = {Tsuruda2013.pdf:pdf/Tsuruda2013.pdf:PDF},
  url = {http://link.springer.com/chapter/10.1007/978-3-642-39342-6_43}
}
Rosario Sorbello, Hiroshi Ishiguro, Antonio Chella, Shuichi Nishio, Giovan Battista Presti, Marcello Giardina, "Telenoid mediated ACT Protocol to Increase Acceptance of Disease among Siblings of Autistic Children", In HRI2013 Workshop on Design of Humanlikeness in HRI : from uncanny valley to minimal design, Tokyo, Japan, pp. 26, March, 2013.
Abstract: We introduce a novel research proposal project aimed to build a robotic setup in which the Telenoid[1] is used as therapist for the sibling of children with autism. Many existing research studies have shown good results relating to the important impact of Acceptance and Commitment Therapy (ACT)[2] applied to siblings of children with autism. The overall behaviors of the siblings may potentially benefit from treatment with a humanoid robot therapist instead of a real one. In particular in the present study, Telenoid humanoid robot[3] is used as therapist to achieve a specific therapeutic objective: the acceptance of diversity from the sibling of children with autism. In the proposed architecture, the Telenoid acts[4] in teleoperated mode[5] during the learning phase, while it becomes more and more autonomous during the working phase with patients. A goal of the research is to improve siblings tolerance and acceptance towards their brothers. The use of ACT[6] will reinforce the acceptance of diversity and it will create a psicological flexibilty along the dimension of diversity. In the present article, we briefly introduce Acceptance and Commitment Therapy (ACT) as a clinical model and its theoretical foundations (Relational Frame Theory). We then explain the six core processes of Hexaflex model of ACT adapted to Telenoid behaviors acting as humanoid robotic therapist. Finally, we present an experimental example about how Telenoid could apply the six processes[7] of hexaflex model of ACT to the patient during its human-humanoid interaction (HHI) in order to realize an applied clinical behavior analysis[8] that increase in the sibling their acceptance of brother' disease.
BibTeX:
@Inproceedings{Sorbello2013,
  author    = {Rosario Sorbello and Hiroshi Ishiguro and Antonio Chella and Shuichi Nishio and Giovan Battista Presti and Marcello Giardina},
  title     = {Telenoid mediated {ACT} Protocol to Increase Acceptance of Disease among Siblings of Autistic Children},
  booktitle = {{HRI}2013 Workshop on Design of Humanlikeness in {HRI} : from uncanny valley to minimal design},
  year      = {2013},
  pages     = {26},
  address   = {Tokyo, Japan},
  month     = Mar,
  day       = {3},
  abstract  = {We introduce a novel research proposal project aimed to build a robotic setup in which the Telenoid[1] is used as therapist for the sibling of children with autism. Many existing research studies have shown good results relating to the important impact of Acceptance and Commitment Therapy (ACT)[2] applied to siblings of children with autism. The overall behaviors of the siblings may potentially benefit from treatment with a humanoid robot therapist instead of a real one. In particular in the present study, Telenoid humanoid robot[3] is used as therapist to achieve a specific therapeutic objective: the acceptance of diversity from the sibling of children with autism. In the proposed architecture, the Telenoid acts[4] in teleoperated mode[5] during the learning phase, while it becomes more and more autonomous during the working phase with patients. A goal of the research is to improve siblings tolerance and acceptance towards their brothers. The use of ACT[6] will reinforce the acceptance of diversity and it will create a psicological flexibilty along the dimension of diversity. In the present article, we briefly introduce Acceptance and Commitment Therapy (ACT) as a clinical model and its theoretical foundations (Relational Frame Theory). We then explain the six core processes of Hexaflex model of ACT adapted to Telenoid behaviors acting as humanoid robotic therapist. Finally, we present an experimental example about how Telenoid could apply the six processes[7] of hexaflex model of ACT to the patient during its human-humanoid interaction (HHI) in order to realize an applied clinical behavior analysis[8] that increase in the sibling their acceptance of brother' disease.},
  file      = {Sorbello2013.pdf:pdf/Sorbello2013.pdf:PDF},
}
Yuhei Fujie, Maiya Hori, Hiroki Yoshimura, Yoshio Iwai, "Emotion Transmission by Color Effects for a Teleoperated Mobile Communication Robot", In HRI 2013 Workshop on Design of Humanlikeness in HRI from uncanny valley to minimal design, Tokyo, pp. 19-25, March, 2013.
Abstract: We propose a method to convey emotions by us- ing color effects for a cellular-phone-type teleoperated android called Elfoid. Video-conferencing and videotelephony are used as tools for communication between people in remote locations. These conventional systems are insufficient to convey the human presence that plays an important role in communication with a partner. Elfoid is designed to transmit the speaker’s presence to their communication partner using a camera and microphone, and has a soft exterior that provides the look and feel of human skin. To transmit the speaker’s presence, Elfoid sends not only the voice of the speaker, but also emotional information captured by the camera and microphone. Elfoid cannot, however, display facial expressions because of its compactness and a lack of sufficiently small actuator motors. We therefore use light-emitting diodes and generate color patterns to represent the speaker’s emotion as estimated by the camera. We focus on emotions that can be conveyed by Elfoid through light emission. It is widely recognized that colors have a strong effect on our emotions and feelings. However, conventional studies using robots with similar appearances to humans have not investigated the color effects. In our experiments, we investigate the emotions conveyed by Elfoid by emitting various light patterns.
BibTeX:
@INPROCEEDINGS{Fujie2013,
  author = {Yuhei Fujie and Maiya Hori and Hiroki Yoshimura and Yoshio Iwai},
  title = {Emotion Transmission by Color Effects for a Teleoperated Mobile Communication
	Robot},
  booktitle = {{HRI} 2013 Workshop on Design of Humanlikeness in {HRI} from uncanny
	valley to minimal design},
  year = {2013},
  pages = {19-25},
  address = {Tokyo},
  month = Mar,
  abstract = {We propose a method to convey emotions by us- ing color effects for
	a cellular-phone-type teleoperated android called Elfoid. Video-conferencing
	and videotelephony are used as tools for communication between people
	in remote locations. These conventional systems are insufficient
	to convey the human presence that plays an important role in communication
	with a partner. Elfoid is designed to transmit the speaker’s presence
	to their communication partner using a camera and microphone, and
	has a soft exterior that provides the look and feel of human skin.
	To transmit the speaker’s presence, Elfoid sends not only the voice
	of the speaker, but also emotional information captured by the camera
	and microphone. Elfoid cannot, however, display facial expressions
	because of its compactness and a lack of sufficiently small actuator
	motors. We therefore use light-emitting diodes and generate color
	patterns to represent the speaker’s emotion as estimated by the camera.
	We focus on emotions that can be conveyed by Elfoid through light
	emission. It is widely recognized that colors have a strong effect
	on our emotions and feelings. However, conventional studies using
	robots with similar appearances to humans have not investigated the
	color effects. In our experiments, we investigate the emotions conveyed
	by Elfoid by emitting various light patterns.},
  day = {3},
}
田中一晶, 中西英之, 石黒浩, "実体で身体動作を提示するロボット会議によるソーシャルテレプレゼンスの強化", インタラクション2013, 日本科学未来館、東京, pp. 125-132, February, 2013.
Abstract: 近年,新たな遠隔会議の方法としてロボットを介して遠隔地にいる相手と対話するロボット会議が研究され始めた. ロボット会議の特徴は,対話相手の身体動作を実体のあるロボットで提示することである.しかし,実体のあるメデ ィアを介して対話することが遠隔会議においてどのような効果をもたらすかは明らかになっていない.本研究の目的 は,遠隔会議における実体の効果を明らかにし,ロボット会議の有効性を検証することである.我々は,ロボットや 様々な既存の遠隔対話メディアを介して対話する被験者実験を実施した.その結果,実体は対話相手のソーシャルテ レプレゼンス(相手と対面で対話している感覚の度合)を強化することが分かった.さらに,実体は対面会議で感じ るような緊張感を生み出すことも分かった.これらの結果からロボット会議の有効性が示唆された.
BibTeX:
@INPROCEEDINGS{田中一晶2013,
  author = {田中一晶 and 中西英之 and 石黒浩},
  title = {実体で身体動作を提示するロボット会議によるソーシャルテレプレゼンスの強化},
  booktitle = {インタラクション2013},
  year = {2013},
  pages = {125--132},
  address = {日本科学未来館、東京},
  month = Feb,
  abstract = {近年,新たな遠隔会議の方法としてロボットを介して遠隔地にいる相手と対話するロボット会議が研究され始めた. ロボット会議の特徴は,対話相手の身体動作を実体のあるロボットで提示することである.しかし,実体のあるメデ
	ィアを介して対話することが遠隔会議においてどのような効果をもたらすかは明らかになっていない.本研究の目的 は,遠隔会議における実体の効果を明らかにし,ロボット会議の有効性を検証することである.我々は,ロボットや
	様々な既存の遠隔対話メディアを介して対話する被験者実験を実施した.その結果,実体は対話相手のソーシャルテ レプレゼンス(相手と対面で対話している感覚の度合)を強化することが分かった.さらに,実体は対面会議で感じ
	るような緊張感を生み出すことも分かった.これらの結果からロボット会議の有効性が示唆された.},
  day = {28-2},
  eabstract = {In recent years, studies have begun on robot conferencing in which
	people talk with a remote conversation partner through a robot as
	a new teleconferencing method. The main feature of robot conferencing
	is that the robot presents the bodily motions of the conversation
	partner with a physical embodiment. However, the effects of physical
	embodiment on teleconferencing had not yet been demonstrated. The
	purpose of this study is to clarify the effects of physical embodiment
	on teleconferencing to investigate the effectiveness of robot conferencing.
	We conducted an experiment in which subjects talked with a partner
	through a robot and various existing telecommunication media. As
	a result, we observed that the physical embodiment enhanced social
	telepresence, i.e., the sense of resembling face-to-face interaction.
	Furthermore, we also observed that physical embodiment enhances the
	sense of tension as in the case of a face-to-face meeting. These
	results indicated the effectiveness of robot conferencing.},
  etitle = {Robot Conferencing that Presents Physically Embodied Body Motions
	Enhances Social Telepresence},
  file = {田中一晶2013.pdf:田中一晶2013.pdf:PDF},
  journal = {インタラクション2013},
}
塩崎恭平, 田中一晶, 中西英之, "遠隔対話における存在感向上に向けた指相撲ロボットハンドの開発 (ポスター発表)", HAIシンポジウム, 京都工芸繊維大学, 京都, pp. 2D-3, December, 2012.
Abstract: There is a problem that is less presence of a remote person in remote conversation than in face-to-face environments.In this study,we developed a thumb wrestling robot hand that reproduced the thumb motion and the warmth of the remote person’s hand.We expect that a pseudo-thumb wrestling with the remote person enhances his/her social telepresence.Furthermore,another expected effect of the thumb wrestling is enhancing a sense of intimacy with the remote person.
BibTeX:
@INPROCEEDINGS{塩崎恭平2012,
  author = {塩崎恭平 and 田中一晶 and 中西英之},
  title = {遠隔対話における存在感向上に向けた指相撲ロボットハンドの開発},
  booktitle = {HAIシンポジウム},
  year = {2012},
  pages = {2D-3},
  address = {京都工芸繊維大学, 京都},
  month = Dec,
  abstract = {There is a problem that is less presence of a remote person in remote
	conversation than in face-to-face environments.In this study,we developed
	a thumb wrestling robot hand that reproduced the thumb motion and
	the warmth of the remote person’s hand.We expect that a pseudo-thumb
	wrestling with the remote person enhances his/her social telepresence.Furthermore,another
	expected effect of the thumb wrestling is enhancing a sense of intimacy
	with the remote person.},
  day = {7-9},
  etitle = {Development of a Thumb Wrestling Robot Hand Enhancing Social Telepresence
	in Remote Conversation},
  ile = {塩崎恭平2012.pdf:塩崎恭平2012.pdf:PDF},
}
桑村海光, 境くりま, 港隆史, 西尾修一, 石黒浩, "遠隔コミュニケーションにおける抱擁の効果", HAIシンポジウム, 京都工芸繊維大学, pp. 1B-3, December, 2012.
Abstract: The act of physical interaction, such as hugging, is one important factor in communication for establishing and maintaining good relationship. This is, at the same time, one of the factors that are often lost in telecommunication between distant locations. Recently, several studies attempted to provide feeling of being hugged by person in remote and showed their effectiveness. However, there have been no study which focused on the effect of hugging a telecommunication medium. In this study, we investigated the effect of hugging on telecommunication by using Hugvie. The experiment with Hugvie revealed that the one who talks to his first meeting while virtually hugging through the medium feels like being loved rather than being liked.
BibTeX:
@Inproceedings{桑村海光2012,
  author          = {桑村海光 and 境くりま and 港隆史 and 西尾修一 and 石黒浩},
  title           = {遠隔コミュニケーションにおける抱擁の効果},
  booktitle       = {{HAI}シンポジウム},
  year            = {2012},
  pages           = {1B-3},
  address         = {京都工芸繊維大学},
  month           = Dec,
  day             = {7-9},
  url             = {http://www.ii.is.kit.ac.jp/hai2012/proceedings/pdf/1B-3.pdf},
  etitle          = {The Effect of Hugging on Telecommunication},
  abstract        = {The act of physical interaction, such as hugging, is one important factor in communication for establishing and maintaining good relationship. This is, at the same time, one of the factors that are often lost in telecommunication between distant locations. Recently, several studies attempted to provide feeling of being hugged by person in remote and showed their effectiveness. However, there have been no study which focused on the effect of hugging a telecommunication medium. In this study, we investigated the effect of hugging on telecommunication by using Hugvie. The experiment with Hugvie revealed that the one who talks to his first meeting while virtually hugging through the medium feels like being loved rather than being liked.},
  file            = {桑村海光2012.pdf:pdf/桑村海光2012.pdf:PDF},
}
幸田健介, 住岡英信, 西尾修一, 石黒浩, "土偶の変遷から見るコミュニケーションメディアのミニマルデザイン", HAIシンポジウム, 京都工芸繊維大学, pp. 1C-4, December, 2012.
Abstract: Investigation of minimal elements of human-like appearance is important not only for designing communication media but also for considering how appearances affect interaction. This paper addresses design issues of communication media to convey person's presence to a distant location. Inspired from analogies between design strategies of such media and "Dogu", a clay doll built during the Jomon period, we investigate minimal elements of human-like appearance by tracing the evolution of Dogu. The survey of Dogu's evolution suggests that 1) human-like torso had a priority over other body representations including facial expression; 2) the arms and legs were represented in abstract forms; 3) eyes, mouth, and nose were essential; and 4) portability was a key feature to change design strategy. Minimal elements for communication media to convey person's presence are discussed based on the results of the survey.
BibTeX:
@Inproceedings{幸田健介2012,
  author          = {幸田健介 and 住岡英信 and 西尾修一 and 石黒浩},
  title           = {土偶の変遷から見るコミュニケーションメディアのミニマルデザイン},
  booktitle       = {{HAI}シンポジウム},
  year            = {2012},
  pages           = {1{C}-4},
  address         = {京都工芸繊維大学},
  month           = Dec,
  day             = {7-9},
  url             = {http://www.ii.is.kit.ac.jp/hai2012/proceedings/pdf/1C-4.pdf},
  etitle          = {Minimal Design of Communication Media Based on "Dogu" Evolution},
  abstract        = {Investigation of minimal elements of human-like appearance is important not only for designing communication media but also for considering how appearances affect interaction. This paper addresses design issues of communication media to convey person's presence to a distant location. Inspired from analogies between design strategies of such media and "Dogu", a clay doll built during the Jomon period, we investigate minimal elements of human-like appearance by tracing the evolution of Dogu. The survey of Dogu's evolution suggests that 1) human-like torso had a priority over other body representations including facial expression; 2) the arms and legs were represented in abstract forms; 3) eyes, mouth, and nose were essential; and 4) portability was a key feature to change design strategy. Minimal elements for communication media to convey person's presence are discussed based on the results of the survey.},
  file            = {幸田健介2012.pdf:pdf/幸田健介2012.pdf:PDF},
}
Martin Cooney, Shuichi Nishio, Hiroshi Ishiguro, "Recognizing Affection for a Touch-based Interaction with a Humanoid Robot", In IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal, pp. 1420-1427, October, 2012.
Abstract: In order to facilitate integration into domestic and public environments, companion robots can seek to communicate in a familiar, socially intelligent´ manner, recognizing typical behaviors which people direct toward them. One important type of behavior to recognize is the displaying and seeking of affection, which is fundamentally associated with the modality of touch. This paper identifies how people communicate affection through touching a humanoid robot appearance, and reports on the development of a recognition system exploring the modalities of touch and vision. Results of evaluation indicate the proposed system can recognize people's affectionate behavior in the designated context.
BibTeX:
@Inproceedings{Cooney2012a,
  author          = {Martin Cooney and Shuichi Nishio and Hiroshi Ishiguro},
  title           = {Recognizing Affection for a Touch-based Interaction with a Humanoid Robot},
  booktitle       = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems},
  year            = {2012},
  pages           = {1420--1427},
  address         = {Vilamoura, Algarve, Portugal},
  month           = Oct,
  day             = {7-12},
  abstract        = {In order to facilitate integration into domestic and public environments, companion robots can seek to communicate in a familiar, socially intelligent´ manner, recognizing typical behaviors which people direct toward them. One important type of behavior to recognize is the displaying and seeking of affection, which is fundamentally associated with the modality of touch. This paper identifies how people communicate affection through touching a humanoid robot appearance, and reports on the development of a recognition system exploring the modalities of touch and vision. Results of evaluation indicate the proposed system can recognize people's affectionate behavior in the designated context.},
  file            = {Cooney2012a.pdf:Cooney2012a.pdf:PDF},
}
Hiroshi Ishiguro, Shuichi Nishi, Antonio Chella, Rosario Sorbello, Giuseppe Balistreri, Marcello Giardina, Carmelo Cali, "Investigating Perceptual Features for a Natural Human - Humanoid Robot Interaction inside a Spontaneous Setting", In Biologically Inspired Cognitive Architectures 2012, Palermo, Italy, October, 2012.
Abstract: The present paper aims to validate our research on human-humanoid interaction (HHMI) using the minimalistic humanoid robot Telenoid. We have conducted human-robot interactions test with 100 young people with no prier interaction experience with this robot. The main goal is the analysis of the two social dimension (perception and believability) useful for increasing the natural behavior between users and Telenoid. We administrated our custom questionnaire to these subjects after a well defined experimental setting (ordinary and goal-guided task). After the analysis of the questionnaires, we obtained the proof that perceptual and believability conditions are necessary social dimensions for a success fully and efficiency HHI interaction in every daylife activities.
BibTeX:
@Inproceedings{Ishiguro2012a,
  author    = {Hiroshi Ishiguro and Shuichi Nishi and Antonio Chella and Rosario Sorbello and Giuseppe Balistreri and Marcello Giardina and Carmelo Cali},
  title     = {Investigating Perceptual Features for a Natural Human - Humanoid Robot Interaction inside a Spontaneous Setting},
  booktitle = {Biologically Inspired Cognitive Architectures 2012},
  year      = {2012},
  address   = {Palermo, Italy},
  month     = Oct,
  abstract  = {The present paper aims to validate our research on human-humanoid interaction (HHMI) using the minimalistic humanoid robot Telenoid. We have conducted human-robot interactions test with 100 young people with no prier interaction experience with this robot. The main goal is the analysis of the two social dimension (perception and believability) useful for increasing the natural behavior between users and Telenoid. We administrated our custom questionnaire to these subjects after a well defined experimental setting (ordinary and goal-guided task). After the analysis of the questionnaires, we obtained the proof that perceptual and believability conditions are necessary social dimensions for a success fully and efficiency HHI interaction in every daylife activities.},
}
Ryuji Yamazaki, Shuichi Nishio, Hiroshi Ishiguro, Marco Nørskov, Nobu Ishiguro, Giuseppe Balistreri, "Social Acceptance of a Teleoperated Android: Field Study on Elderly's Engagement with an Embodied Communication Medium in Denmark", In International Conference on Social Robotics, Chengdu, China, pp. 428-437, October, 2012.
Abstract: We explored the potential of teleoperated android robots, which are embodied telecommunication media with humanlike appearances, and how they affect people in the real world when they are employed to express a telepresence and a sense of ‘being there'. In Denmark, our exploratory study focused on the social aspects of Telenoid, a teleoperated android, which might facilitate communication between senior citizens and Telenoid's operator. After applying it to the elderly in their homes, we found that the elderly assumed positive attitudes toward Telenoid, and their positivity and strong attachment to its huggable minimalistic human design were cross-culturally shared in Denmark and Japan. Contrary to the negative reactions by non-users in media reports, our result suggests that teleoperated androids can be accepted by the elderly as a kind of universal design medium for social inclusion.
BibTeX:
@Inproceedings{Yamazaki2012c,
  author          = {Ryuji Yamazaki and Shuichi Nishio and Hiroshi Ishiguro and Marco N\orskov and Nobu Ishiguro and Giuseppe Balistreri},
  title           = {Social Acceptance of a Teleoperated Android: Field Study on Elderly's Engagement with an Embodied Communication Medium in Denmark},
  booktitle       = {International Conference on Social Robotics},
  year            = {2012},
  pages           = {428-437},
  address         = {Chengdu, China},
  month           = Oct,
  day             = {29-31},
  doi             = {10.1007/978-3-642-34103-8_43},
  url             = {http://link.springer.com/chapter/10.1007/978-3-642-34103-8_43},
  abstract        = {We explored the potential of teleoperated android robots, which are embodied telecommunication media with humanlike appearances, and how they affect people in the real world when they are employed to express a telepresence and a sense of ‘being there'. In Denmark, our exploratory study focused on the social aspects of Telenoid, a teleoperated android, which might facilitate communication between senior citizens and Telenoid's operator. After applying it to the elderly in their homes, we found that the elderly assumed positive attitudes toward Telenoid, and their positivity and strong attachment to its huggable minimalistic human design were cross-culturally shared in Denmark and Japan. Contrary to the negative reactions by non-users in media reports, our result suggests that teleoperated androids can be accepted by the elderly as a kind of universal design medium for social inclusion.},
  file            = {Yamazaki2012c.pdf:pdf/Yamazaki2012c.pdf:PDF},
  keywords        = {android;teleoperation;minimal design;communication;embodiment;inclusion;acceptability;elderly care},
}
Carlos T. Ishi, Chaoran Liu, Hiroshi Ishiguro, Norihiro Hagita, "Evaluation of formant-based lip motion generation in tele-operated humanoid robots", In IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal, pp. 2377-2382, October, 2012.
Abstract: Generating natural motion in robots is important for improving human-robot interaction. We developed a tele-operation system where the lip motion of a remote humanoid robot is automatically controlled from the operator's voice. In the present work, we introduce an improved version of our proposed speech-driven lip motion generation method, where lip height and width degrees are estimated based on vowel formant information. The method requires the calibration of only one parameter for speaker normalization. Lip height control is evaluated in two types of humanoid robots (Telenoid-R2 and Geminoid-F). Subjective evaluation indicated that the proposed audio-based method can generate lip motion with naturalness superior to vision-based and motion capture-based approaches. Partial lip width control was shown to improve lip motion naturalness in Geminoid-F, which also has an actuator for stretching the lip corners. Issues regarding online real-time processing are also discussed.
BibTeX:
@Inproceedings{Ishi2012,
  author    = {Carlos T. Ishi and Chaoran Liu and Hiroshi Ishiguro and Norihiro Hagita},
  title     = {Evaluation of formant-based lip motion generation in tele-operated humanoid robots},
  booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems},
  year      = {2012},
  pages     = {2377--2382},
  address   = {Vilamoura, Algarve, Portugal},
  month     = Oct,
  day       = {7-12},
  abstract  = {Generating natural motion in robots is important for improving human-robot interaction. We developed a tele-operation system where the lip motion of a remote humanoid robot is automatically controlled from the operator's voice. In the present work, we introduce an improved version of our proposed speech-driven lip motion generation method, where lip height and width degrees are estimated based on vowel formant information. The method requires the calibration of only one parameter for speaker normalization. Lip height control is evaluated in two types of humanoid robots (Telenoid-R2 and Geminoid-F). Subjective evaluation indicated that the proposed audio-based method can generate lip motion with naturalness superior to vision-based and motion capture-based approaches. Partial lip width control was shown to improve lip motion naturalness in Geminoid-F, which also has an actuator for stretching the lip corners. Issues regarding online real-time processing are also discussed.},
  file      = {Ishi2012.pdf:pdf/Ishi2012.pdf:PDF},
}
Ryuji Yamazaki, Shuichi Nishio, Hiroshi Ishiguro, Takashi Minato, Marco Nørskov, Nobu Ishiguro, Masaru Nishikawa, Tsutomu Fujinami, "Social Inclusion of Senior Citizens by a Teleoperated Android : Toward Inter-generational TeleCommunity Creation", In 2012 IEEE International Workshop on Assistance and Service Robotics in a Human Environment, International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal, pp. 53-58, October, 2012.
Abstract: As populations continue to age, there is a growing need for assistive technologies that help senior citizens maintain their autonomy and enjoy their lives. We explore the potential of teleoperated androids, which are embodied telecommunication media with humanlike appearances. Our exploratory study focused on the social aspects of Telenoid, a teleoperated android designed as a minimalistic human, which might facilitate communication between senior citizens and its operators. We conducted cross-cultural field trials in Japan and Denmark by introducing Telenoid into care facilities and the private homes of seniors to observe how they responded to it. In Japan, we set up a teleoperation system in an elementary school and investigated how it shaped communication through the internet between the elderly in a care facility and the children who acted as teleoperators. In both countries, the elderly commonly assumed positive attitudes toward Telenoid and imaginatively developed various dialogue strategies. Telenoid lowered the barriers for the children as operators for communicating with demented seniors so that they became more relaxed to participate in and positively continue conversations using Telenoid. Our results suggest that its minimalistic human design is inclusive for seniors with or without dementia and facilitates inter-generational communication, which may be expanded to a social network of trans-national supportive relationships among all generations.
BibTeX:
@Inproceedings{Yamazaki2012d,
  author    = {Ryuji Yamazaki and Shuichi Nishio and Hiroshi Ishiguro and Takashi Minato and Marco N\orskov and Nobu Ishiguro and Masaru Nishikawa and Tsutomu Fujinami},
  title     = {Social Inclusion of Senior Citizens by a Teleoperated Android : Toward Inter-generational TeleCommunity Creation},
  booktitle = {2012 {IEEE} International Workshop on Assistance and Service Robotics in a Human Environment, International Conference on Intelligent Robots and Systems},
  year      = {2012},
  pages     = {53--58},
  address   = {Vilamoura, Algarve, Portugal},
  month     = Oct,
  day       = {7-12},
  abstract  = {As populations continue to age, there is a growing need for assistive technologies that help senior citizens maintain their autonomy and enjoy their lives. We explore the potential of teleoperated androids, which are embodied telecommunication media with humanlike appearances. Our exploratory study focused on the social aspects of Telenoid, a teleoperated android designed as a minimalistic human, which might facilitate communication between senior citizens and its operators. We conducted cross-cultural field trials in Japan and Denmark by introducing Telenoid into care facilities and the private homes of seniors to observe how they responded to it. In Japan, we set up a teleoperation system in an elementary school and investigated how it shaped communication through the internet between the elderly in a care facility and the children who acted as teleoperators. In both countries, the elderly commonly assumed positive attitudes toward Telenoid and imaginatively developed various dialogue strategies. Telenoid lowered the barriers for the children as operators for communicating with demented seniors so that they became more relaxed to participate in and positively continue conversations using Telenoid. Our results suggest that its minimalistic human design is inclusive for seniors with or without dementia and facilitates inter-generational communication, which may be expanded to a social network of trans-national supportive relationships among all generations.},
  file      = {Yamazaki2012d.pdf:Yamazaki2012d.pdf:PDF},
}
Takashi Minato, Hidenobu Sumioka, Shuichi Nishio, Hiroshi Ishiguro, "Studying the Influence of Handheld Robotic Media on Social Communications", In the RO-MAN 2012 workshop on social robotic telepresence, Paris, France, pp. 15-16, September, 2012.
Abstract: This paper describes research issues on social robotic telepresence using “Elfoid". It is a portable tele-operated humanoid that is designed to transfer individuals' presence to remote places at anytime, anywhere, to provide a new communication style in which individuals talk with persons in remote locations in such a way that they feel each other's presence. However, it is not known how people adapt to the new communication style and how social communications change by Elfoid. Investigating the influence of Elfoid on social communications are very interesting in the view of social robotic telepresence. This paper introduces Elfoid and shows the position of our studies in social robotic telepresence.
BibTeX:
@Inproceedings{Minato2012c,
  author    = {Takashi Minato and Hidenobu Sumioka and Shuichi Nishio and Hiroshi Ishiguro},
  title     = {Studying the Influence of Handheld Robotic Media on Social Communications},
  booktitle = {the {RO-MAN} 2012 workshop on social robotic telepresence},
  year      = {2012},
  pages     = {15--16},
  address   = {Paris, France},
  month     = Sep,
  day       = {9-13},
  abstract  = {This paper describes research issues on social robotic telepresence using “Elfoid". It is a portable tele-operated humanoid that is designed to transfer individuals' presence to remote places at anytime, anywhere, to provide a new communication style in which individuals talk with persons in remote locations in such a way that they feel each other's presence. However, it is not known how people adapt to the new communication style and how social communications change by Elfoid. Investigating the influence of Elfoid on social communications are very interesting in the view of social robotic telepresence. This paper introduces Elfoid and shows the position of our studies in social robotic telepresence.},
  file      = {Minato2012c.pdf:Minato2012c.pdf:PDF},
}
Kaiko Kuwamura, Takashi Minato, Shuichi Nishio, Hiroshi Ishiguro, "Personality Distortion in Communication through Teleoperated Robots", In IEEE International Symposium on Robot and Human Interactive Communication, Paris, France, pp. 49-54, September, 2012.
Abstract: Recent research has focused on such physical communication media as teleoperated robots, which provide a feeling of being with people in remote places. Recent invented media resemble cute animals or imaginary creatures that quickly attract attention. However, such appearances could distort tele-communications because they are different from human beings. This paper studies the effect on the speaker's personality that is transmitted through physical media by regarding appearances as a function that transmits the speaker's information. Although communication media's capability to transmit information reportedly influences conversations in many aspects, the effect of appearances remains unclear. To reveal the effect of appearance, we compared three appearances of communication media: stuffed-bear teleoperated robot, human-like teleoperated robot, and video chat. Our results show that communication media whose appearance greatly differs from that of the speaker distorts the personality perceived by interlocutors. This paper suggests that the design of the appearance of physical communication media needs to be carefully selected.
BibTeX:
@Inproceedings{Kuwamura2012,
  author    = {Kaiko Kuwamura and Takashi Minato and Shuichi Nishio and Hiroshi Ishiguro},
  title     = {Personality Distortion in Communication through Teleoperated Robots},
  booktitle = {{IEEE} International Symposium on Robot and Human Interactive Communication},
  year      = {2012},
  pages     = {49--54},
  address   = {Paris, France},
  month     = Sep,
  day       = {9-13},
  abstract  = {Recent research has focused on such physical communication media as teleoperated robots, which provide a feeling of being with people in remote places. Recent invented media resemble cute animals or imaginary creatures that quickly attract attention. However, such appearances could distort tele-communications because they are different from human beings. This paper studies the effect on the speaker's personality that is transmitted through physical media by regarding appearances as a function that transmits the speaker's information. Although communication media's capability to transmit information reportedly influences conversations in many aspects, the effect of appearances remains unclear. To reveal the effect of appearance, we compared three appearances of communication media: stuffed-bear teleoperated robot, human-like teleoperated robot, and video chat. Our results show that communication media whose appearance greatly differs from that of the speaker distorts the personality perceived by interlocutors. This paper suggests that the design of the appearance of physical communication media needs to be carefully selected.},
  file      = {Kuwamura2012.pdf:pdf/Kuwamura2012.pdf:PDF},
}
Hidenobu Sumioka, Shuichi Nishio, Erina Okamoto, Hiroshi Ishiguro, "Isolation of physical traits and conversational content for personality design", Poster presentation at IEEE International Symposium on Robot and Human Interactive Communication, Paris, France, pp. 596-601, September, 2012.
Abstract: In this paper, we propose the "Doppel teleoperation system,'' which isolates several physical traits from a speaker, to investigate how personal information is conveyed to others during conversation. An underlying problem on designing personality in social robots is that it remains unclear how humans judge the personalities of conversation partners. With the Doppel system, for each of the communication channels to be transferred, one can choose it in its original form or in the one generated by the system. For example, voice and body motions can be replaced by the Doppel system while preserving the speech content. This allows us to analyze the individual effects of the physical traits of the speaker and the content in the speaker's speech on the identification of personality. This selectivity of personal traits provides a useful approach to investigate which information conveys our personality through conversation. To show the potential of our system, we experimentally tested how much the conversation content conveys the personality of speakers to interlocutors without any of their physical traits. Preliminary results show that although interlocutors have difficulty identifying speakers only using conversational contents, they can recognize their acquaintances when their acquaintances are the speakers. We point out some potential physical traits to convey personality
BibTeX:
@Inproceedings{Sumioka2012d,
  author          = {Hidenobu Sumioka and Shuichi Nishio and Erina Okamoto and Hiroshi Ishiguro},
  title           = {Isolation of physical traits and conversational content for personality design},
  booktitle       = {{IEEE} International Symposium on Robot and Human Interactive Communication},
  year            = {2012},
  pages           = {596--601},
  address         = {Paris, France},
  month           = Sep,
  day             = {9-13},
  doi             = {10.1109/ROMAN.2012.6343816},
  abstract        = {In this paper, we propose the "Doppel teleoperation system,'' which isolates several physical traits from a speaker, to investigate how personal information is conveyed to others during conversation. An underlying problem on designing personality in social robots is that it remains unclear how humans judge the personalities of conversation partners. With the Doppel system, for each of the communication channels to be transferred, one can choose it in its original form or in the one generated by the system. For example, voice and body motions can be replaced by the Doppel system while preserving the speech content. This allows us to analyze the individual effects of the physical traits of the speaker and the content in the speaker's speech on the identification of personality. This selectivity of personal traits provides a useful approach to investigate which information conveys our personality through conversation. To show the potential of our system, we experimentally tested how much the conversation content conveys the personality of speakers to interlocutors without any of their physical traits. Preliminary results show that although interlocutors have difficulty identifying speakers only using conversational contents, they can recognize their acquaintances when their acquaintances are the speakers. We point out some potential physical traits to convey personality},
  file            = {Sumioka2012d.pdf:Sumioka2012d.pdf:PDF},
}
Ryuji Yamazaki, Shuichi Nishio, Kohei Ogawa, Hiroshi Ishiguro, "Teleoperated Android as an Embodied Communication Medium: A Case Study with Demented Elderlies in a Care Facility", In IEEE International Symposium on Robot and Human Interactive Communication, Paris, France, pp. 1066-1071, September, 2012.
Abstract: Teleoperated androids, which are robots with humanlike appearances, are being produced as new media of human relationships. We explored the potential of humanoid robots and how they affect people in the real world when they are employed to express a telecommunication presence and a sense of ‘being there'. We introduced Telenoid, a teleoperated android, to a residential care facility to see how the elderly with dementia respond to it. Our exploratory study focused on the social aspects that might facilitate communication between the elderly and Telenoid's operator. Telenoid elicited positive images and interactive reactions from the elderly with mild dementia, even from those with severe cognitive impairment. They showed strong attachment to its child-like huggable design and became willing to converse with it. Our result suggests that an affectionate bond may be formed between the elderly and the android to provide the operator with easy communication to elicit responses from senior citizens.
BibTeX:
@Inproceedings{Yamazaki2012b,
  author    = {Ryuji Yamazaki and Shuichi Nishio and Kohei Ogawa and Hiroshi Ishiguro},
  title     = {Teleoperated Android as an Embodied Communication Medium: A Case Study with Demented Elderlies in a Care Facility},
  booktitle = {{IEEE} International Symposium on Robot and Human Interactive Communication},
  year      = {2012},
  pages     = {1066--1071},
  address   = {Paris, France},
  month     = Sep,
  day       = {9-13},
  abstract  = {Teleoperated androids, which are robots with humanlike appearances, are being produced as new media of human relationships. We explored the potential of humanoid robots and how they affect people in the real world when they are employed to express a telecommunication presence and a sense of ‘being there'. We introduced Telenoid, a teleoperated android, to a residential care facility to see how the elderly with dementia respond to it. Our exploratory study focused on the social aspects that might facilitate communication between the elderly and Telenoid's operator. Telenoid elicited positive images and interactive reactions from the elderly with mild dementia, even from those with severe cognitive impairment. They showed strong attachment to its child-like huggable design and became willing to converse with it. Our result suggests that an affectionate bond may be formed between the elderly and the android to provide the operator with easy communication to elicit responses from senior citizens.},
  file      = {Yamazaki2012b.pdf:Yamazaki2012b.pdf:PDF},
}
Martin Cooney, Francesco Zanlungo, Shuichi Nishio, Hiroshi Ishiguro, "Designing a Flying Humanoid Robot (FHR): Effects of Flight on Interactive Communication", In IEEE International Symposium on Robot and Human Interactive Communication, Paris, France, pp. 364-371, September, 2012.
Abstract: This research constitutes an initial investigation into key issues which arise in designing a flying humanoid robot (FHR), with a focus on human-robot interaction (HRI). The humanoid form offers an interface for natural communication; flight offers excellent mobility. Combining both will yield companion robots capable of approaching, accompanying, and communicating naturally with humans in difficult environments. Problematic is how such a robot should best fly around humans, and what effect the robot's flight will have on a person in terms of paralinguistic (non-verbal) cues. To answer these questions, we propose an extension to existing proxemics theory (“z-proxemics") and predict how typical humanoid flight motions will be perceived. Data obtained from participants watching animated sequences are analyzed to check our predictions. The paper also reports on the building of a flying humanoid robot, which we will use in interactions.
BibTeX:
@Inproceedings{Cooney2012b,
  author          = {Martin Cooney and Francesco Zanlungo and Shuichi Nishio and Hiroshi Ishiguro},
  title           = {Designing a Flying Humanoid Robot ({FHR}): Effects of Flight on Interactive Communication},
  booktitle       = {{IEEE} International Symposium on Robot and Human Interactive Communication},
  year            = {2012},
  pages           = {364--371},
  address         = {Paris, France},
  month           = Sep,
  day             = {9-13},
  doi             = {10.1109/ROMAN.2012.6343780},
  abstract        = {This research constitutes an initial investigation into key issues which arise in designing a flying humanoid robot ({FHR}), with a focus on human-robot interaction ({HRI}). The humanoid form offers an interface for natural communication; flight offers excellent mobility. Combining both will yield companion robots capable of approaching, accompanying, and communicating naturally with humans in difficult environments. Problematic is how such a robot should best fly around humans, and what effect the robot's flight will have on a person in terms of paralinguistic (non-verbal) cues. To answer these questions, we propose an extension to existing proxemics theory (“z-proxemics") and predict how typical humanoid flight motions will be perceived. Data obtained from participants watching animated sequences are analyzed to check our predictions. The paper also reports on the building of a flying humanoid robot, which we will use in interactions.},
  file            = {Cooney2012b.pdf:Cooney2012b.pdf:PDF},
}
Hidenobu Sumioka, Shuichi Nishio, Hiroshi Ishiguro, "Teleoperated android for mediated communication : body ownership, personality distortion, and minimal human design", In the RO-MAN 2012 workshop on social robotic telepresence, Paris, France, pp. 32-39, September, 2012.
Abstract: In this paper we discuss the impact of humanlike appearance on telecommunication, giving an overview of studies with teleoperated androids. We show that, due to humanlike appearance, teleoperated androids do not only affect interlocutors communicating with them but also teleoperators controlling them in another location. They enhance teleoperator's feeling of telepresence by inducing a sense of ownership over their body parts. It is also pointed out that a mismatch between an android and a teleoperator in appearance distorts the teleoperator's personality to be conveyed to an interlocutor. To overcome this problem, the concept of minimal human likeness design is introduced. We demonstrate that a new teleoperated android developed with the concept reduces the distortion in telecommunication. Finally, some research issues are discussed on a sense of ownership over telerobot's body, minimal human likeness design, and interface design.
BibTeX:
@Inproceedings{Sumioka2012c,
  author          = {Hidenobu Sumioka and Shuichi Nishio and Hiroshi Ishiguro},
  title           = {Teleoperated android for mediated communication : body ownership, personality distortion, and minimal human design},
  booktitle       = {the {RO-MAN} 2012 workshop on social robotic telepresence},
  year            = {2012},
  pages           = {32--39},
  address         = {Paris, France},
  month           = Sep,
  day             = {9-13},
  abstract        = {In this paper we discuss the impact of humanlike appearance on telecommunication, giving an overview of studies with teleoperated androids. We show that, due to humanlike appearance, teleoperated androids do not only affect interlocutors communicating with them but also teleoperators controlling them in another location. They enhance teleoperator's feeling of telepresence by inducing a sense of ownership over their body parts. It is also pointed out that a mismatch between an android and a teleoperator in appearance distorts the teleoperator's personality to be conveyed to an interlocutor. To overcome this problem, the concept of minimal human likeness design is introduced. We demonstrate that a new teleoperated android developed with the concept reduces the distortion in telecommunication. Finally, some research issues are discussed on a sense of ownership over telerobot's body, minimal human likeness design, and interface design.},
  file            = {Sumioka2012c.pdf:Sumioka2012c.pdf:PDF},
}
Carlos T. Ishi, Chaoran Liu, Hiroshi Ishiguro, Norihiro Hagita, "Evaluation of a formant-based speech-driven lip motion generation", In 13th Annual Conference of the International Speech Communication Association, Portland, Oregon, pp. P1a.04, September, 2012.
Abstract: The background of the present work is the development of a tele-presence robot system where the lip motion of a remote humanoid robot is automatically controlled from the operator's voice. In the present paper, we introduce an improved version of our proposed speech-driven lip motion generation method, where lip height and width degrees are estimated based on vowel formant information. The method requires the calibration of only one parameter for speaker normalization, so that no training of dedicated models is necessary. Lip height control is evaluated in a female android robot and in animated lips. Subjective evaluation indicated that naturalness of lip motion generated in the robot is improved by the inclusion of a partial lip width control (with stretching of the lip corners). Highest naturalness scores were achieved for the animated lips, showing the effectiveness of the proposed method.
BibTeX:
@Inproceedings{Ishi2012b,
  author          = {Carlos T. Ishi and Chaoran Liu and Hiroshi Ishiguro and Norihiro Hagita},
  title           = {Evaluation of a formant-based speech-driven lip motion generation},
  booktitle       = {13th Annual Conference of the International Speech Communication Association},
  year            = {2012},
  pages           = {P1a.04},
  address         = {Portland, Oregon},
  month           = Sep,
  day             = {9-13},
  abstract        = {The background of the present work is the development of a tele-presence robot system where the lip motion of a remote humanoid robot is automatically controlled from the operator's voice. In the present paper, we introduce an improved version of our proposed speech-driven lip motion generation method, where lip height and width degrees are estimated based on vowel formant information. The method requires the calibration of only one parameter for speaker normalization, so that no training of dedicated models is necessary. Lip height control is evaluated in a female android robot and in animated lips. Subjective evaluation indicated that naturalness of lip motion generated in the robot is improved by the inclusion of a partial lip width control (with stretching of the lip corners). Highest naturalness scores were achieved for the animated lips, showing the effectiveness of the proposed method.},
  file            = {Ishi2012b.pdf:pdf/Ishi2012b.pdf:PDF},
  keywords        = {lip motion, formant, tele-operation, humanoid robot},
}
Hidenobu Sumioka, Shuichi Nishio, Erina Okamoto, Hiroshi Ishiguro, "Doppel Teleoperation System: Isolation of physical traits and intelligence for personality study", In Annual meeting of the Cognitive Science Society (CogSci2012), Sapporo Convention Center, pp. 2375-2380, August, 2012.
Abstract: We introduce the “Doppel teleoperation system", which isolates several physical traits from a speaker, to investigate how personal information is conveyed to other people during conversation. With the Doppel system, one can choose for each of the communication channels to be transferred whether in its original form or in the one generated by the system. For example, the voice and body motion can be replaced by the Doppel system while the speech content is preserved. This will allow us to analyze individual effects of physical traits of the speaker and content in the speaker's speech on identification of personality. This selectivity of personal traits provides us with useful approach to investigate which information conveys our personality through conversation. To show a potential of this proposed system, we conduct an experiment to test how much the content of conversation conveys the personality of speakers to interlocutors, without any physical traits of the speakers. Preliminary results show that although interlocutors have difficulty identifying their speakers only by using conversational contents, they can recognize their acquaintances when their acquaintances are the speakers. We point out some potential physical traits to convey our personality.
BibTeX:
@Inproceedings{Sumioka2012,
  author          = {Hidenobu Sumioka and Shuichi Nishio and Erina Okamoto and Hiroshi Ishiguro},
  title           = {Doppel Teleoperation System: Isolation of physical traits and intelligence for personality study},
  booktitle       = {Annual meeting of the Cognitive Science Society ({C}og{S}ci2012)},
  year            = {2012},
  pages           = {2375-2380},
  address         = {Sapporo Convention Center},
  month           = Aug,
  day             = {1-4},
  url             = {http://mindmodeling.org/cogsci2012/papers/0413/paper0413.pdf},
  abstract        = {We introduce the “Doppel teleoperation system", which isolates several physical traits from a speaker, to investigate how personal information is conveyed to other people during conversation. With the Doppel system, one can choose for each of the communication channels to be transferred whether in its original form or in the one generated by the system. For example, the voice and body motion can be replaced by the Doppel system while the speech content is preserved. This will allow us to analyze individual effects of physical traits of the speaker and content in the speaker's speech on identification of personality. This selectivity of personal traits provides us with useful approach to investigate which information conveys our personality through conversation. To show a potential of this proposed system, we conduct an experiment to test how much the content of conversation conveys the personality of speakers to interlocutors, without any physical traits of the speakers. Preliminary results show that although interlocutors have difficulty identifying their speakers only by using conversational contents, they can recognize their acquaintances when their acquaintances are the speakers. We point out some potential physical traits to convey our personality.},
  file            = {Sumioka2012.pdf:Sumioka2012.pdf:PDF},
  keywords        = {social cognition; android science; human-robot interaction; personality psychology; personal presence},
}
Hidenobu Sumioka, Takashi Minato, Kurima Sakai, Shuichi Nishio, Hiroshi Ishiguro, "Motion Design of an Interactive Small Humanoid Robot with Visual Illusion", In The 10th Asia Pacific Conference on Computer Human Interaction, Matsue, Japan, pp. 93-100, August, 2012.
Abstract: We propose a method that enables users to convey nonver- bal information, especially their gestures, through portable robot avatar based on illusory motion. The illusory mo- tion of head nodding is realized with blinking lights for a human-like mobile phone called Elfoid. Two blinking pat- terns of LEDs are designed based on biological motion and illusory motion from shadows. The patterns are compared to select an appropriate pattern for the illusion of motion in terms of the naturalness of movements and quick percep- tion. The result shows that illusory motions show better per- formance than biological motion. We also test whether the illusory motion of head nodding provides a positive effect compared with just blinking lights. In experiments, subjects, who are engaged in role-playing game, are asked to com- plain to Elfoids about their unpleasant situation. The results show that the subject frustration is eased by Elfoid's illusory head nodding.
BibTeX:
@Inproceedings{Sumioka2012a,
  author    = {Hidenobu Sumioka and Takashi Minato and Kurima Sakai and Shuichi Nishio and Hiroshi Ishiguro},
  title     = {Motion Design of an Interactive Small Humanoid Robot with Visual Illusion},
  booktitle = {The 10th Asia Pacific Conference on Computer Human Interaction},
  year      = {2012},
  pages     = {93-100},
  address   = {Matsue, Japan},
  month     = Aug,
  day       = {28-31},
  url       = {http://dl.acm.org/authorize?6720741},
  abstract  = {We propose a method that enables users to convey nonver- bal information, especially their gestures, through portable robot avatar based on illusory motion. The illusory mo- tion of head nodding is realized with blinking lights for a human-like mobile phone called Elfoid. Two blinking pat- terns of LEDs are designed based on biological motion and illusory motion from shadows. The patterns are compared to select an appropriate pattern for the illusion of motion in terms of the naturalness of movements and quick percep- tion. The result shows that illusory motions show better per- formance than biological motion. We also test whether the illusory motion of head nodding provides a positive effect compared with just blinking lights. In experiments, subjects, who are engaged in role-playing game, are asked to com- plain to Elfoids about their unpleasant situation. The results show that the subject frustration is eased by Elfoid's illusory head nodding.},
  file      = {Sumioka2012a.pdf:Sumioka2012a.pdf:PDF},
  keywords  = {telecommunication; nonverbal communication; portable robot avatar; visual illusion of motion},
}
Takashi Minato, Shuichi Nishio, Kohei Ogawa, Hiroshi Ishiguro, "Development of Cellphone-type Tele-operated Android", Poster presentation at The 10th Asia Pacific Conference on Computer Human Interaction, Matsue, Japan, pp. 665-666, August, 2012.
Abstract: This paper presents a newly developed portable human-like robotic avatar “Elfoid" which can be a novel communication medium in that a user can talk with another person in a remote location in such a way that they feel each other's presence. It is designed to convey individuals' presence using voice, human-like appearance, and touch. Thanks to its cellphone capability, it can be used at anytime, anywhere. The paper describes the design concept of Elfoid and argues research issues on this communication medium.
BibTeX:
@Inproceedings{Minato2012b,
  author    = {Takashi Minato and Shuichi Nishio and Kohei Ogawa and Hiroshi Ishiguro},
  title     = {Development of Cellphone-type Tele-operated Android},
  booktitle = {The 10th Asia Pacific Conference on Computer Human Interaction},
  year      = {2012},
  pages     = {665-666},
  address   = {Matsue, Japan},
  month     = Aug,
  day       = {28-31},
  abstract  = {This paper presents a newly developed portable human-like robotic avatar “Elfoid" which can be a novel communication medium in that a user can talk with another person in a remote location in such a way that they feel each other's presence. It is designed to convey individuals' presence using voice, human-like appearance, and touch. Thanks to its cellphone capability, it can be used at anytime, anywhere. The paper describes the design concept of Elfoid and argues research issues on this communication medium.},
  file      = {Minato2012b.pdf:Minato2012b.pdf:PDF},
  keywords  = {Communication media; minimal design; human's presence},
}
Shuichi Nishio, "Transmitting human presence with teleoperated androids: from proprioceptive transfer to elderly care", In CogSci2012 Workshop on Teleopearted Android as a Tool for Cognitive Studies, Communication and Art, Sapporo, Japan, August, 2012.
Abstract: Teleoperated androids, robots owning humanlike appearance equipped with semi-autonomous teleoperation facility, was first introduce in 2007 with the public release of Geminoid HI-1. Both its appearance that resembles the source person and its teleoperation functionality serves in making Geminoid as a research tool for seeking the nature of human presence and personality traits, tracing their origins and implementing into robots. Since the development of the first teleoperated android, we have been using them in a variety of domains, from studies on basic human natures to practical applications such as elderly care. In this talk, I will introduce some of our findings and ongoing projects.
BibTeX:
@Inproceedings{Nishio2012d,
  author    = {Shuichi Nishio},
  title     = {Transmitting human presence with teleoperated androids: from proprioceptive transfer to elderly care},
  booktitle = {CogSci2012 Workshop on Teleopearted Android as a Tool for Cognitive Studies, Communication and Art},
  year      = {2012},
  address   = {Sapporo, Japan},
  month     = Aug,
  abstract  = {Teleoperated androids, robots owning humanlike appearance equipped with semi-autonomous teleoperation facility, was first introduce in 2007 with the public release of Geminoid HI-1. Both its appearance that resembles the source person and its teleoperation functionality serves in making Geminoid as a research tool for seeking the nature of human presence and personality traits, tracing their origins and implementing into robots. Since the development of the first teleoperated android, we have been using them in a variety of domains, from studies on basic human natures to practical applications such as elderly care. In this talk, I will introduce some of our findings and ongoing projects.},
}
堀磨伊也, 高倉秀基, 吉村宏紀, 岩井儀雄, "携帯型遠隔操作アンドロイドにおけるモバイルプロジェクタを用いた表情の生成", 第15回画像の認識・理解シンポジウム(MIRU 2012), no. IS1-79, 福岡国際会議場、福岡, August, 2012.
BibTeX:
@INPROCEEDINGS{堀磨伊也2012,
  author = {堀磨伊也 and 高倉秀基 and 吉村宏紀 and 岩井儀雄},
  title = {携帯型遠隔操作アンドロイドにおけるモバイルプロジェクタを用いた表情の生成},
  booktitle = {第15回画像の認識・理解シンポジウム({MIRU} 2012)},
  year = {2012},
  number = {IS1-79},
  address = {福岡国際会議場、福岡},
  month = Aug,
  day = {6-8},
}
Hiroshi Ishiguro, Shuichi Nishio, Antonio Chella, Rosario Sorbello, Giuseppe Balistreri, Marcello Giardina, Carmelo Cali, "Perceptual Social Dimensions of Human-Humanoid Robot Interaction", In The 12th International Conference on Intelligent Autonomous Systems, Springer Berlin Heidelberg, vol. 194, Jeju International Convention Center, Korea, pp. 409-421, June, 2012.
Abstract: The present paper aims at a descriptive analysis of the main perceptual and social features of natural conditions of agent interaction, which can be specified by agent in human- humanoid robot interaction. A principled approach to human- robot interaction may be assumed to comply with the natural conditions of agents overt perceptual and social behaviour. To validate our research we used the minimalistic humanoid robot Telenoid. We have conducted human-robot interactions test with people with no prior interaction experience with robot. By administrating our questionnaire to subject after well defined experimental conditions, an analysis of significant variance corre- lation among dimensions in ordinary and goal guided contexts of interaction has been performed in order to prove that perception and believability are indicators of social interaction and increase the degree of interaction in human-humanoid interaction. The experimental results showed that Telenoid is seen from the users as an autonomous agent on its own rather than a teleoperated artificial agent and as a believable agent for its naturally acting in response to human agent actions.
BibTeX:
@Inproceedings{Ishiguro2012,
  author    = {Hiroshi Ishiguro and Shuichi Nishio and Antonio Chella and Rosario Sorbello and Giuseppe Balistreri and Marcello Giardina and Carmelo Cali},
  title     = {Perceptual Social Dimensions of Human-Humanoid Robot Interaction},
  booktitle = {The 12th International Conference on Intelligent Autonomous Systems},
  year      = {2012},
  volume    = {194},
  series    = {Advances in Intelligent Systems and Computing},
  pages     = {409-421},
  address   = {Jeju International Convention Center, Korea},
  month     = Jun,
  publisher = {Springer Berlin Heidelberg},
  day       = {26-29},
  doi       = {10.1007/978-3-642-33932-5_38},
  url       = {http://link.springer.com/chapter/10.1007/978-3-642-33932-5_38},
  abstract  = {The present paper aims at a descriptive analysis of the main perceptual and social features of natural conditions of agent interaction, which can be specified by agent in human- humanoid robot interaction. A principled approach to human- robot interaction may be assumed to comply with the natural conditions of agents overt perceptual and social behaviour. To validate our research we used the minimalistic humanoid robot Telenoid. We have conducted human-robot interactions test with people with no prior interaction experience with robot. By administrating our questionnaire to subject after well defined experimental conditions, an analysis of significant variance corre- lation among dimensions in ordinary and goal guided contexts of interaction has been performed in order to prove that perception and believability are indicators of social interaction and increase the degree of interaction in human-humanoid interaction. The experimental results showed that Telenoid is seen from the users as an autonomous agent on its own rather than a teleoperated artificial agent and as a believable agent for its naturally acting in response to human agent actions.},
  file      = {Ishiguro2012.pdf:Ishiguro2012.pdf:PDF},
  keywords  = {Telenoid, Geminoid, Human Robot Interaction, Social Robot, Humanoid Robot},
}
Ryuji Yamazaki, Shuichi Nishio, Kohei Ogawa, Hiroshi Ishiguro, Kohei Matsumura, Kensuke Koda, Tsutomu Fujinami, "How Does Telenoid Affect the Communication between Children in Classroom Setting ?", In Extended Abstracts of the Conference on Human Factors in Computing Systems, Austin, Texas, USA, pp. 351-366, May, 2012.
Abstract: Recent advances in robotics have produced kinds of robots that are not only autonomous but can also tele- operated and have humanlike appearances. However, it is not sufficiently investigated how the tele-operated humanoid robots can affect and be accepted by people in a real world. In the present study, we investigated how elementary school children accepted Telenoid R1, a tele-operated humanoid robot. We conducted a school-based action research project to explore their responses to the robot. Our research theme was the social aspects that might facilitate communication and the purpose was problem finding. There have been considerable studies for resolving the remote disadvantage; although face-to-face is always supposed to be the best way for our communication, we ask whether it is possible to determine the primacy of remote communication over face-to-face. As a result of the field experiment in a school, the structure of children's group work changed and their attitude turned more positive than usual. Their spontaneity was brought out and role differentiation occurred with them. Mainly due to the limitations by Telenoid, children changed their attitude and could cooperatively work. The result suggested that the remote communication that set a limit to our capability could be useful for us to know and be trained the effective way to work more cooperatively than usual face-to-face. It remained as future work to compare Telenoid with various media and to explore the appropriate conditions that promote our cooperation.
BibTeX:
@Inproceedings{Yamazaki2012,
  author          = {Ryuji Yamazaki and Shuichi Nishio and Kohei Ogawa and Hiroshi Ishiguro and Kohei Matsumura and Kensuke Koda and Tsutomu Fujinami},
  title           = {How Does Telenoid Affect the Communication between Children in Classroom Setting ?},
  booktitle       = {Extended Abstracts of the Conference on Human Factors in Computing Systems},
  year            = {2012},
  pages           = {351-366},
  address         = {Austin, Texas, {USA}},
  month           = May,
  day             = {5-10},
  doi             = {10.1145/2212776.2212814},
  url             = {http://dl.acm.org/authorize?6764060},
  abstract        = {Recent advances in robotics have produced kinds of robots that are not only autonomous but can also tele- operated and have humanlike appearances. However, it is not sufficiently investigated how the tele-operated humanoid robots can affect and be accepted by people in a real world. In the present study, we investigated how elementary school children accepted Telenoid R1, a tele-operated humanoid robot. We conducted a school-based action research project to explore their responses to the robot. Our research theme was the social aspects that might facilitate communication and the purpose was problem finding. There have been considerable studies for resolving the remote disadvantage; although face-to-face is always supposed to be the best way for our communication, we ask whether it is possible to determine the primacy of remote communication over face-to-face. As a result of the field experiment in a school, the structure of children's group work changed and their attitude turned more positive than usual. Their spontaneity was brought out and role differentiation occurred with them. Mainly due to the limitations by Telenoid, children changed their attitude and could cooperatively work. The result suggested that the remote communication that set a limit to our capability could be useful for us to know and be trained the effective way to work more cooperatively than usual face-to-face. It remained as future work to compare Telenoid with various media and to explore the appropriate conditions that promote our cooperation.},
  file            = {Yamazaki2012.pdf:Yamazaki2012.pdf:PDF},
  keywords        = {Tele-operation; android; minimal design; human interaction; role differentiation; cooperation},
}
Chaoran Liu, Carlos T. Ishi, Hiroshi Ishiguro, Norihiro Hagita, "Generation of nodding, head tilting and eye gazing for human-robot dialogue interaction", In ACM/IEEE International Conference on Human Robot Interaction, Boston, USA, pp. 285-292, March, 2012.
Abstract: Head motion occurs naturally and in synchrony with speech during human dialogue communication, and may carry paralinguistic information, such as intentions, attitudes and emotions. Therefore, natural-looking head motion by a robot is important for smooth human-robot interaction. Based on rules inferred from analyses of the relationship between head motion and dialogue acts, this paper proposes a model for generating head tilting and nodding, and evaluates the model using three types of humanoid robot (a very human-like android, ``Geminoid F'', a typical humanoid robot with less facial degrees of freedom, ``Robovie R2'', and a robot with a 3- axis rotatable neck and movable lips, ``Telenoid R2''). Analysis of subjective scores shows that the proposed model including head tilting and nodding can generate head motion with increased naturalness compared to nodding only and directly mapping people's original motions without gaze information. We also find that an upwards motion of a robot's face can be used by robots which do not have a mouth in order to provide the appearance that utterance is taking place. Finally, we conduct an experiment in which participants act as visitors to an information desk attended by robots. As a consequence, we verify that our generation model performs equally to directly mapping people's original motions with gaze information in terms of perceived naturalness.
BibTeX:
@Inproceedings{Liu2012,
  author          = {Chaoran Liu and Carlos T. Ishi and Hiroshi Ishiguro and Norihiro Hagita},
  title           = {Generation of nodding, head tilting and eye gazing for human-robot dialogue interaction},
  booktitle       = {{ACM/IEEE} International Conference on Human Robot Interaction},
  year            = {2012},
  pages           = {285--292},
  address         = {Boston, USA},
  month           = Mar,
  day             = {5-8},
  doi             = {10.1145/2157689.2157797},
  abstract        = {Head motion occurs naturally and in synchrony with speech during human dialogue communication, and may carry paralinguistic information, such as intentions, attitudes and emotions. Therefore, natural-looking head motion by a robot is important for smooth human-robot interaction. Based on rules inferred from analyses of the relationship between head motion and dialogue acts, this paper proposes a model for generating head tilting and nodding, and evaluates the model using three types of humanoid robot (a very human-like android, ``Geminoid F'', a typical humanoid robot with less facial degrees of freedom, ``Robovie R2'', and a robot with a 3- axis rotatable neck and movable lips, ``Telenoid R2''). Analysis of subjective scores shows that the proposed model including head tilting and nodding can generate head motion with increased naturalness compared to nodding only and directly mapping people's original motions without gaze information. We also find that an upwards motion of a robot's face can be used by robots which do not have a mouth in order to provide the appearance that utterance is taking place. Finally, we conduct an experiment in which participants act as visitors to an information desk attended by robots. As a consequence, we verify that our generation model performs equally to directly mapping people's original motions with gaze information in terms of perceived naturalness.},
  file            = {Liu2012.pdf:Liu2012.pdf:PDF},
  keywords        = {Head motion; dialogue acts; eye gazing; motion generation.},
}
境くりま, 港隆史, 西尾修一, 石黒浩, "LED点滅による運動錯覚を用いた携帯型アンドロイドの運動錯覚の生成", HAIシンポジウム, 京都工芸繊維大学, pp. II-1B-1, December, 2011.
Abstract: We can not naturally communicate through communication media such as cell phone compared with face to face communication because they can not transmit human presence. We try to transmit human presence by a small humanoid communication medium ``Elfoid''. Elfoid is a new information medium that harmonizes human with information-environment beyond existing personal computers and cellphones, and is designed according to minimum requirements to express humanlike appearance and motion, which are revealed in our past studies. To transmit human presence, Elfoid needs to express motions. However it is too small to equip actuators for motions. Instead of actuators, we proposed a way to have users recognize motions of Elfoid by using motion illusion with LED blinking. In this paper, we focused on motion of nodding that is important for talking. In the results of experiments, we revealed that a blinking pattern to manipulate a shadow of the face naturally elicits an illusion of nodding motion.
BibTeX:
@Inproceedings{境くりま2011,
  author          = {境くりま and 港隆史 and 西尾修一 and 石黒浩},
  title           = {{LED}点滅による運動錯覚を用いた携帯型アンドロイドの運動錯覚の生成},
  booktitle       = {{HAI}シンポジウム},
  year            = {2011},
  pages           = {II-1B-1},
  address         = {京都工芸繊維大学},
  month           = Dec,
  day             = {3-5},
  url             = {http://www.ii.is.kit.ac.jp/hai2011/proceedings/html/paper/paper-2-1b-1.html},
  etitle          = {Creating Motion of Mobile Android by Motion Illusions with LED Blinking},
  abstract        = {We can not naturally communicate through communication media such as cell phone compared with face to face communication because they can not transmit human presence. We try to transmit human presence by a small humanoid communication medium ``Elfoid''. Elfoid is a new information medium that harmonizes human with information-environment beyond existing personal computers and cellphones, and is designed according to minimum requirements to express humanlike appearance and motion, which are revealed in our past studies. To transmit human presence, Elfoid needs to express motions. However it is too small to equip actuators for motions. Instead of actuators, we proposed a way to have users recognize motions of Elfoid by using motion illusion with LED blinking. In this paper, we focused on motion of nodding that is important for talking. In the results of experiments, we revealed that a blinking pattern to manipulate a shadow of the face naturally elicits an illusion of nodding motion.},
  file            = {境くりま2011.pdf:境くりま2011.pdf:PDF;II-1B-1.pdf:http\://www.ii.is.kit.ac.jp/hai2011/proceedings/pdf/II-1B-1.pdf:PDF},
}
Ryohei Kimura, Noriko Takemura, Yoshio Iwai, Kosuke Sato, "Extracting Interval Distribution of Human Interactions", Poster presentation at Pacific-Rim Symposium on Image and Video Technology (PSIVT), Gwangju, Korea, pp. 262-273, November, 2011.
BibTeX:
@INPROCEEDINGS{Kimura2011,
  author = {Ryohei Kimura and Noriko Takemura and Yoshio Iwai and Kosuke Sato},
  title = {Extracting Interval Distribution of Human Interactions},
  booktitle = {Pacific-Rim Symposium on Image and Video Technology (PSIVT)},
  year = {2011},
  pages = {262--273},
  address = {Gwangju, Korea},
  month = Nov,
  day = {1},
}
Martin Cooney, Takayuki Kanda, Aris Alissandrakis, Hiroshi Ishiguro, "Interaction Design for an Enjoyable Play Interaction with a Small Humanoid Robot", In IEEE-RAS International Conference on Humanoid Robots (Humanoids), Bled, Slovenia, pp. 112-119, October, 2011.
Abstract: Robots designed to act as companions are expected to be able to interact with people in an enjoyable fashion. In particular, our aim is to enable small companion robots to respond in a pleasant way when people pick them up and play with them. To this end, we developed a gesture recognition system capable of recognizing play gestures which involve a person moving a small humanoid robot's full body ("full-body gestures"). However, such recognition by itself is not enough to provide a nice interaction. In fact, interactions with an initial, naive version of our system frequently fail. The question then becomes: what more is required? I.e., what sort of interaction design is required in order to create successful interactions? To answer this question, we analyze typical failures which occur and compile a list of guidelines. Then, we implement this model in our robot, proposing strategies for how a robot can provide ``reward'' and suggest goals for the interaction. As a consequence, we conduct a validation experiment. We find that our interaction design with ``persisting intentions'' can be used to establish an enjoyable play interaction.
BibTeX:
@Inproceedings{Cooney2011,
  author          = {Martin Cooney and Takayuki Kanda and Aris Alissandrakis and Hiroshi Ishiguro},
  title           = {Interaction Design for an Enjoyable Play Interaction with a Small Humanoid Robot},
  booktitle       = {{IEEE-RAS} International Conference on Humanoid Robots (Humanoids)},
  year            = {2011},
  pages           = {112--119},
  address         = {Bled, Slovenia},
  month           = Oct,
  day             = {26-28},
  abstract        = {Robots designed to act as companions are expected to be able to interact with people in an enjoyable fashion. In particular, our aim is to enable small companion robots to respond in a pleasant way when people pick them up and play with them. To this end, we developed a gesture recognition system capable of recognizing play gestures which involve a person moving a small humanoid robot's full body ("full-body gestures"). However, such recognition by itself is not enough to provide a nice interaction. In fact, interactions with an initial, naive version of our system frequently fail. The question then becomes: what more is required? I.e., what sort of interaction design is required in order to create successful interactions? To answer this question, we analyze typical failures which occur and compile a list of guidelines. Then, we implement this model in our robot, proposing strategies for how a robot can provide ``reward'' and suggest goals for the interaction. As a consequence, we conduct a validation experiment. We find that our interaction design with ``persisting intentions'' can be used to establish an enjoyable play interaction.},
  file            = {Cooney2011.pdf:Cooney2011.pdf:PDF},
  keywords        = {interaction design; enjoyment; playful human-robot interaction; small humanoid robot},
}
Giuseppe Balistreri, Shuichi Nishio, Rosario Sorbello, Hiroshi Ishiguro, "Integrating Built-in Sensors of an Android with Sensors Embedded in the Environment for Studying a More Natural Human-Robot Interaction", In Lecture Notes in Computer Science (12th International Conference of the Italian Association for Artificial Intelligence), Springer, vol. 6934, Palermo, Italy, pp. 432-437, September, 2011.
Abstract: Several studies supported that there is a strict and complex relationship between outer appearance and the behavior showed by the robot and that a human-like appearance is not enough for give a positive impression. The robot should behave closely to humans, and should have a sense of perception that enables it to communicate with humans. Our past experience with the android ``Geminoid HI-1'' demonstrated that the sensors equipping the robot are not enough to perform a human-like communication, mainly because of a limited sensing range. To overcome this problem, we endowed the environment around the robot with per- ceptive capabilities by embedding sensors such as cameras into it. This paper reports a preliminary study about an improvement of the control- ling system by integrating cameras in the surrounding environment, so that a human-like perception can be provided to the android. The inte- gration of the development of androids and the investigations of human behaviors constitute a new research area fusing engineering and cognitive sciences.
BibTeX:
@Inproceedings{Balistreri2011,
  author    = {Giuseppe Balistreri and Shuichi Nishio and Rosario Sorbello and Hiroshi Ishiguro},
  title     = {Integrating Built-in Sensors of an Android with Sensors Embedded in the Environment for Studying a More Natural Human-Robot Interaction},
  booktitle = {Lecture Notes in Computer Science (12th International Conference of the Italian Association for Artificial Intelligence)},
  year      = {2011},
  volume    = {6934},
  pages     = {432--437},
  address   = {Palermo, Italy},
  month     = Sep,
  publisher = {Springer},
  doi       = {10.1007/978-3-642-23954-0_43},
  url       = {http://www.springerlink.com/content/c015680178436107/},
  abstract  = {Several studies supported that there is a strict and complex relationship between outer appearance and the behavior showed by the robot and that a human-like appearance is not enough for give a positive impression. The robot should behave closely to humans, and should have a sense of perception that enables it to communicate with humans. Our past experience with the android ``Geminoid HI-1'' demonstrated that the sensors equipping the robot are not enough to perform a human-like communication, mainly because of a limited sensing range. To overcome this problem, we endowed the environment around the robot with per- ceptive capabilities by embedding sensors such as cameras into it. This paper reports a preliminary study about an improvement of the control- ling system by integrating cameras in the surrounding environment, so that a human-like perception can be provided to the android. The inte- gration of the development of androids and the investigations of human behaviors constitute a new research area fusing engineering and cognitive sciences.},
  bibsource = {DBLP, http://dblp.uni-trier.de},
  file      = {Balistreri2011.pdf:Balistreri2011.pdf:PDF},
  keywords  = {Android; gaze; sensor network},
}
Panikos Heracleous, Miki Sato, Carlos T. Ishi, Hiroshi Ishiguro, Norihiro Hagita, "Speech Production in Noisy Environments and the Effect on Automatic Speech Recognition", In International Congress of Phonetic Sciences, Hong Kong, China, pp. 855-858, August, 2011.
Abstract: Speech is bimodal in nature and includes the audio and visual modalities. In addition to acoustic speech perception, speech can be also perceived using visual information provided by the mouth/face (i.e., automatic lipreading). In this study, the visual speech production in noisy environments is investigated. The authors show that the Lombard effect plays an important role not only in audio speech but also in visual speech production. Experimental results show that when visual speech is produced in noisy environments, the visual parameters of the mouth/face change. As a result, the performance of a visual speech recognizer decreases.
BibTeX:
@Inproceedings{Heracleous2011e,
  author          = {Panikos Heracleous and Miki Sato and Carlos T. Ishi and Hiroshi Ishiguro and Norihiro Hagita},
  title           = {Speech Production in Noisy Environments and the Effect on Automatic Speech Recognition},
  booktitle       = {International Congress of Phonetic Sciences},
  year            = {2011},
  pages           = {855--858},
  address         = {Hong Kong, China},
  month           = Aug,
  day             = {18-21},
  abstract        = {Speech is bimodal in nature and includes the audio and visual modalities. In addition to acoustic speech perception, speech can be also perceived using visual information provided by the mouth/face (i.e., automatic lipreading). In this study, the visual speech production in noisy environments is investigated. The authors show that the Lombard effect plays an important role not only in audio speech but also in visual speech production. Experimental results show that when visual speech is produced in noisy environments, the visual parameters of the mouth/face change. As a result, the performance of a visual speech recognizer decreases.},
  file            = {Heracleous2011e.pdf:Heracleous2011e.pdf:PDF;Heracleous.pdf:http\://www.icphs2011.hk/resources/OnlineProceedings/RegularSession/Heracleous/Heracleous.pdf:PDF},
  keywords        = {speech; noisy environments; Lombard effect; lipreading},
}
Carlos T. Ishi, Chaoran Liu, Hiroshi Ishiguro, Norihiro Hagita, "Speech-driven lip motion generation for tele-operated humanoid robots", In the International Conference on Audio-Visual Speech Processing 2011, Volterra, Italy, pp. 131-135, August, 2011.
Abstract: (such as android) from the utterances of the operator, we developed a speech-driven lip motion generation method. The proposed method is based on the rotation of the vowel space, given by the first and second formants, around the center vowel, and a mapping to the lip opening degrees. The method requires the calibration of only one parameter for speaker normalization, so that no other training of models is required. In a pilot experiment, the proposed audio-based method was perceived as more natural than vision-based approaches, regardless of the language.
BibTeX:
@Inproceedings{Ishi2011a,
  author          = {Carlos T. Ishi and Chaoran Liu and Hiroshi Ishiguro and Norihiro Hagita},
  title           = {Speech-driven lip motion generation for tele-operated humanoid robots},
  booktitle       = {the International Conference on Audio-Visual Speech Processing 2011},
  year            = {2011},
  pages           = {131-135},
  address         = {Volterra, Italy},
  month           = Aug,
  day             = {31-3},
  abstract        = {(such as android) from the utterances of the operator, we developed a speech-driven lip motion generation method. The proposed method is based on the rotation of the vowel space, given by the first and second formants, around the center vowel, and a mapping to the lip opening degrees. The method requires the calibration of only one parameter for speaker normalization, so that no other training of models is required. In a pilot experiment, the proposed audio-based method was perceived as more natural than vision-based approaches, regardless of the language.},
  file            = {Ishi2011a.pdf:pdf/Ishi2011a.pdf:PDF},
  keywords        = {lip motion; formant; humanoid robot; tele-operation; synchronization},
}
Kohei Ogawa, Shuichi Nishio, Kensuke Koda, Koichi Taura, Takashi Minato, Carlos T. Ishi, Hiroshi Ishiguro, "Telenoid: Tele-presence android for communication", In SIGGRAPH Emerging Technology, Vancouver, Canada, pp. 15, August, 2011.
Abstract: In this research, a new system of telecommunication called "Telenoid" is presented which focuses on the idea of transferring human's "presence". Telenoid was developed to appear and behave as a minimal design of human features. (Fig. 2(A)) A minimal human conveys the impression of human existence at first glance, but it doesn't suggest anything about personal features such as being male or female, old or young. Previously an android with more realistic features called Geminoid was proposed. However, because of its unique appearance, which is the copy of a model, it is too difficult to imagine other people's presence through Geminoid while they are operating it. On the other hand, Telenoid is designed as it holds an anonymous identity, which allows people to communicate with their acquaintances far away regardless of their gender and age. We expect that the Telenoid can be used as a medium that transfers human's presence by its minimal feature design.
BibTeX:
@Inproceedings{Ogawa2011a,
  author          = {Kohei Ogawa and Shuichi Nishio and Kensuke Koda and Koichi Taura and Takashi Minato and Carlos T. Ishi and Hiroshi Ishiguro},
  title           = {Telenoid: Tele-presence android for communication},
  booktitle       = {{SIGGRAPH} Emerging Technology},
  year            = {2011},
  pages           = {15},
  address         = {Vancouver, Canada},
  month           = Aug,
  day             = {7-11},
  doi             = {10.1145/2048259.2048274},
  url             = {http://dl.acm.org/authorize?6594082},
  abstract        = {In this research, a new system of telecommunication called "Telenoid" is presented which focuses on the idea of transferring human's "presence". Telenoid was developed to appear and behave as a minimal design of human features. (Fig. 2(A)) A minimal human conveys the impression of human existence at first glance, but it doesn't suggest anything about personal features such as being male or female, old or young. Previously an android with more realistic features called Geminoid was proposed. However, because of its unique appearance, which is the copy of a model, it is too difficult to imagine other people's presence through Geminoid while they are operating it. On the other hand, Telenoid is designed as it holds an anonymous identity, which allows people to communicate with their acquaintances far away regardless of their gender and age. We expect that the Telenoid can be used as a medium that transfers human's presence by its minimal feature design.},
  file            = {Ogawa2011a.pdf:Ogawa2011a.pdf:PDF},
}
Ayaka Yamamoto, Yoshio Iwai, Hiroshi Ishiguro, "Memory Based Human Region Detection", Poster presentation at IAPR Conference on Machine Vision Applications (MVA), Nara, Japan, June, 2011.
BibTeX:
@INPROCEEDINGS{Yamamoto2011,
  author = {Ayaka Yamamoto and Yoshio Iwai and Hiroshi Ishiguro},
  title = {Memory Based Human Region Detection},
  booktitle = {IAPR Conference on Machine Vision Applications (MVA)},
  year = {2011},
  address = {Nara, Japan},
  month = Jun,
  day = {1},
}
Panikos Heracleous, Norihiro Hagita, "Automatic Recognition of Speech without any audio information", In IEEE International Conference on Acoustics, Speech and Signal Processing, Prague, Czech Republic, pp. 2392-2395, May, 2011.
Abstract: This article introduces automatic recognition of speech without any audio information. Movements of the tongue, lips, and jaw are tracked by an Electro-Magnetic Articulography (EMA) device and are used as features to create hidden Markov models (HMMs) and conduct automatic speech recognition in a conventional way. The results obtained are promising, which confirm that phonetic features characterizing articulation are as discriminating as those characterizing acoustics (except for voicing). The results also show that using tongue parameters result in a higher accuracy compared with the lip parameters.
BibTeX:
@Inproceedings{Heracleous2011a,
  author    = {Panikos Heracleous and Norihiro Hagita},
  title     = {Automatic Recognition of Speech without any audio information},
  booktitle = {{IEEE} International Conference on Acoustics, Speech and Signal Processing},
  year      = {2011},
  pages     = {2392--2395},
  address   = {Prague, Czech Republic},
  month     = May,
  day       = {22-27},
  doi       = {10.1109/ICASSP.2011.5946965},
  url       = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5946965},
  abstract  = {This article introduces automatic recognition of speech without any audio information. Movements of the tongue, lips, and jaw are tracked by an Electro-Magnetic Articulography ({EMA}) device and are used as features to create hidden Markov models ({HMM}s) and conduct automatic speech recognition in a conventional way. The results obtained are promising, which confirm that phonetic features characterizing articulation are as discriminating as those characterizing acoustics (except for voicing). The results also show that using tongue parameters result in a higher accuracy compared with the lip parameters.},
  file      = {Heracleous2011a.pdf:Heracleous2011a.pdf:PDF},
}
Panikos Heracleous, Hiroshi Ishiguro, Norihiro Hagita, "Visual-speech to text conversion applicable to telephone communication for deaf individuals", In International Conference on Telecommunications, Ayia Napa, Cyprus, pp. 130-133, May, 2011.
Abstract: The access to communication technologies has become essential for the handicapped people. This study introduces the initial step of an automatic translation system able to translate visual speech used by deaf individuals to text, or auditory speech. A such a system would enable deaf users to communicate with each other and with normal-hearing people through telephone networks or through Internet by only using telephone devices equipped with simple cameras. In particular, this paper introduces automatic recognition and conversion to text of Cued Speech for French. Cued speech is a visual mode used for communication in the deaf society. Using hand shapes placed in different positions near the face as a complement to lipreading, all the sounds of a spoken language can be visually distinguished and perceived. Experimental results show high recognition rates for both isolated word and continuous phoneme recognition experiments in Cued Speech for French.
BibTeX:
@Inproceedings{Heracleous2011f,
  author    = {Panikos Heracleous and Hiroshi Ishiguro and Norihiro Hagita},
  title     = {Visual-speech to text conversion applicable to telephone communication for deaf individuals},
  booktitle = {International Conference on Telecommunications},
  year      = {2011},
  pages     = {130--133},
  address   = {Ayia Napa, Cyprus},
  month     = May,
  day       = {8-11},
  doi       = {10.1109/CTS.2011.5898904},
  url       = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5898904},
  abstract  = {The access to communication technologies has become essential for the handicapped people. This study introduces the initial step of an automatic translation system able to translate visual speech used by deaf individuals to text, or auditory speech. A such a system would enable deaf users to communicate with each other and with normal-hearing people through telephone networks or through Internet by only using telephone devices equipped with simple cameras. In particular, this paper introduces automatic recognition and conversion to text of Cued Speech for French. Cued speech is a visual mode used for communication in the deaf society. Using hand shapes placed in different positions near the face as a complement to lipreading, all the sounds of a spoken language can be visually distinguished and perceived. Experimental results show high recognition rates for both isolated word and continuous phoneme recognition experiments in Cued Speech for French.},
  file      = {Heracleous2011f.pdf:Heracleous2011f.pdf:PDF},
}
Hideyuki Nakanishi, Kei Kato, Hiroshi Ishiguro, "Zoom Cameras and Movable Displays Enhance Social Telepresence", In ACM Conference on Human Factors in Computing Systems (CHI 2011), Vancouver, Canada, pp. 63-72, May, 2011.
Abstract: This paper shows that the augmentation of a remote person's positional movement enhances social telepresence. There are three possible ways of representing a remote person's movement toward the user in visual communication: a) the remote person's movement toward the remote camera, b) the remote camera's zooming in to enlarge the remote person's picture, and c) a forward movement of the display that is displaying the remote person. We conducted an experiment to see the relationship among these three ways and the effects of a remote camera's zooming and a display's movement on social telepresence. In the experiment, we observed that the remote person's movement lowered the reality of conversations, and the remote camera's zooming lowered the visual quality. However, social telepresence was enhanced when both the person's movement and the camera's zooming occurred simultaneously. We also observed that a 6-centimeter movement of the display enhanced social telepresence, whether the remote person moved or not.
BibTeX:
@INPROCEEDINGS{Nakanishi2011,
  author = {Hideyuki Nakanishi and Kei Kato and Hiroshi Ishiguro},
  title = {Zoom Cameras and Movable Displays Enhance Social Telepresence},
  booktitle = {ACM Conference on Human Factors in Computing Systems ({CHI} 2011)},
  year = {2011},
  pages = {63--72},
  address = {Vancouver, Canada},
  month = May,
  abstract = {This paper shows that the augmentation of a remote person's positional
	movement enhances social telepresence. There are three possible ways
	of representing a remote person's movement toward the user in visual
	communication: a) the remote person's movement toward the remote
	camera, b) the remote camera's zooming in to enlarge the remote person's
	picture, and c) a forward movement of the display that is displaying
	the remote person. We conducted an experiment to see the relationship
	among these three ways and the effects of a remote camera's zooming
	and a display's movement on social telepresence. In the experiment,
	we observed that the remote person's movement lowered the reality
	of conversations, and the remote camera's zooming lowered the visual
	quality. However, social telepresence was enhanced when both the
	person's movement and the camera's zooming occurred simultaneously.
	We also observed that a 6-centimeter movement of the display enhanced
	social telepresence, whether the remote person moved or not.},
  day = {7-12},
  file = {Nakanishi2011.pdf:Nakanishi2011.pdf:PDF},
  keywords = {Telepresence; videoconferencing; telerobotics},
  url = {http://delivery.acm.org/10.1145/1980000/1978953/p63-nakanishi.pdf?ip=133.186.34.130&acc=AUTHOR%2DIZED&CFID=69682909&CFTOKEN=36457336&__acm__=1331267804_9a7d8caad7c0a5fcb7a17f73854c560b}
}
Panikos Heracleous, Miki Sato, Carlos Toshinori Ishi, Hiroshi Ishiguro, Norihiro Hagita, "The effect of environmental noise to automatic lip-reading", In Spring Meeting Acoustical Society of Japan, Waseda University, Tokyo, Japan, pp. 5-8, March, 2011.
Abstract: In automatic visual speech recognition, verbal messages can be interpreted by monitoring a talker's lip and facial movements using automated tools based on statistical methods (i.e., automatic visual speech recognition). Automatic visual speech recognition has applications in audiovisual speech recognition and in lip shape synthesis. This study investigates the automatic visual and audiovisual speech recognition in the presence of noise. The authors show that the Lombard effect plays an important role not only in audio, but also in automatic visual speech recognition. Experimental results of a multispeaker continuous phoneme recognition experiment show that the performance of a visual and an audiovisual speech recognition system further increases when the visual Lombard effect is also considered.
BibTeX:
@Inproceedings{Heracleous2011c,
  author          = {Panikos Heracleous and Miki Sato and Carlos Toshinori Ishi and Hiroshi Ishiguro and Norihiro Hagita},
  title           = {The effect of environmental noise to automatic lip-reading},
  booktitle       = {Spring Meeting Acoustical Society of Japan},
  year            = {2011},
  series          = {1-5-3},
  pages           = {5--8},
  address         = {Waseda University, Tokyo, Japan},
  month           = Mar,
  abstract        = {In automatic visual speech recognition, verbal messages can be interpreted by monitoring a talker's lip and facial movements using automated tools based on statistical methods (i.e., automatic visual speech recognition). Automatic visual speech recognition has applications in audiovisual speech recognition and in lip shape synthesis. This study investigates the automatic visual and audiovisual speech recognition in the presence of noise. The authors show that the Lombard effect plays an important role not only in audio, but also in automatic visual speech recognition. Experimental results of a multispeaker continuous phoneme recognition experiment show that the performance of a visual and an audiovisual speech recognition system further increases when the visual Lombard effect is also considered.},
  file            = {Heracleous2011c.pdf:Heracleous2011c.pdf:PDF},
}
会議発表(査読なし)
石井カルロス寿憲, 神田崇行, "暴言発話の韻律および音声特徴の分析", 日本音響学会2018年秋季研究発表会 (ASJ2018 Autumn), vol. 1, no. 4, 大分大学旦野原キャンパス, 大分, pp. 1119-1120, September, 2018.
Abstract: 暴言や低モラルの発話における音響的・韻律的特徴の分析を行った。分析には同じ発話内容を異なった発話態度(読み上げ、暴言、狂乱、冗談)で発声したデータを収集、異なった発話スタイルに関する韻律・声質特徴の違いを示した。
BibTeX:
@Inproceedings{石井カルロス寿憲2018b,
  author    = {石井カルロス寿憲 and 神田崇行},
  title     = {暴言発話の韻律および音声特徴の分析},
  booktitle = {日本音響学会2018年秋季研究発表会 (ASJ2018 Autumn)},
  year      = {2018},
  volume    = {1},
  number    = {4},
  series    = {130},
  pages     = {1119-1120},
  address   = {大分大学旦野原キャンパス, 大分},
  month     = sep,
  day       = {12-14},
  url       = {http://www.asj.gr.jp/annualmeeting/pdf/2018autumn_program.pdf},
  abstract  = {暴言や低モラルの発話における音響的・韻律的特徴の分析を行った。分析には同じ発話内容を異なった発話態度(読み上げ、暴言、狂乱、冗談)で発声したデータを収集、異なった発話スタイルに関する韻律・声質特徴の違いを示した。 },
}
船山智, 港隆史, 石井カルロス寿憲, 石黒浩, "遠隔操作型アンドロイドの笑い動作の付加効果", 情報処理学会関西支部大会, 大阪大学中之島センター, 大阪, pp. 1-7, September, 2015.
Abstract: 遠隔操作型アンドロイドは,操作者の声や動きを実体によって相手に伝えることができる一方で,自由度の制約上,動作表現が乏しくなる問題がある.本論文では感情表現に着目し,操作者が笑った時に,操作者の笑い動作と異なる代替動作を付加することで表現を補えることを示した.
BibTeX:
@Inproceedings{船山智2015,
  author    = {船山智 and 港隆史 and 石井カルロス寿憲 and 石黒浩},
  title     = {遠隔操作型アンドロイドの笑い動作の付加効果},
  booktitle = {情報処理学会関西支部大会},
  year      = {2015},
  series    = {C-07},
  pages     = {1-7},
  address   = {大阪大学中之島センター, 大阪},
  month     = SEP,
  abstract  = {遠隔操作型アンドロイドは,操作者の声や動きを実体によって相手に伝えることができる一方で,自由度の制約上,動作表現が乏しくなる問題がある.本論文では感情表現に着目し,操作者が笑った時に,操作者の笑い動作と異なる代替動作を付加することで表現を補えることを示した.},
  file      = {船山智2015.pdf:pdf/船山智2015.pdf:PDF},
}
劉超然, 石井カルロス寿憲, 石黒浩, 萩田紀博, "臨場感の伝わる遠隔操作システムのデザイン ~マイクロホンアレイ処理を用いた音環境の再構築~", In 第41回 人工知能学会 AIチャレンジ研究会, 慶應義塾大学日吉キャンパス 来住舎(東京), pp. 26-32, November, 2014.
Abstract: 本稿では遠隔地にあるロボットの周囲の音環境をマイクロフォンアレイ処理によって定位・分離し,ヴァーチャル位置にレンダリングするシステムを提案した。
BibTeX:
@Inproceedings{劉超然2014,
  author    = {劉超然 and 石井カルロス寿憲 and 石黒浩 and 萩田紀博},
  title     = {臨場感の伝わる遠隔操作システムのデザイン ~マイクロホンアレイ処理を用いた音環境の再構築~},
  booktitle = {第41回 人工知能学会 AIチャレンジ研究会},
  year      = {2014},
  pages     = {26-32},
  address   = {慶應義塾大学日吉キャンパス 来住舎(東京)},
  month     = Nov,
  abstract  = {本稿では遠隔地にあるロボットの周囲の音環境をマイクロフォンアレイ処理によって定位・分離し,ヴァーチャル位置にレンダリングするシステムを提案した。},
  file      = {劉超然2014.pdf:pdf/劉超然2014.pdf:PDF},
}
中西惇也, 住岡英信, 境くりま, 中道大介, 桑村海光, 石黒浩, "聞く力を引き出すHuman-robot Intimate Interaction", 第32回日本ロボット学会学術講演会, 九州産業大学(福岡), pp. RSJ2014AC3P1-07, September, 2014.
Abstract: 本研究では人の存在を感じさせる存在感対話メディア「ハグビー」によって構築される話者との親密な関係が会話への集中力を高め,児童の未熟な聞く能力を補助あるいは向上させることを提案した.実際に未就学児童への読み聞かせ場面にハグビーを導入し,振る舞いを観察した結果,ハグビーを用いることで児童が話に集中することができることが示唆された.これは存在感対話メディアによって授業中の立ち歩きや私語などによる学級全体の授業が成り立たなくなるという小1プロブレムを回避できる可能性を示している.
BibTeX:
@Inproceedings{中西惇也2014,
  author    = {中西惇也 and 住岡英信 and 境くりま and 中道大介 and 桑村海光 and 石黒浩},
  title     = {聞く力を引き出すHuman-robot Intimate Interaction},
  booktitle = {第32回日本ロボット学会学術講演会},
  year      = {2014},
  pages     = {RSJ2014AC3P1-07},
  address   = {九州産業大学(福岡)},
  month     = Sep,
  abstract  = {本研究では人の存在を感じさせる存在感対話メディア「ハグビー」によって構築される話者との親密な関係が会話への集中力を高め,児童の未熟な聞く能力を補助あるいは向上させることを提案した.実際に未就学児童への読み聞かせ場面にハグビーを導入し,振る舞いを観察した結果,ハグビーを用いることで児童が話に集中することができることが示唆された.これは存在感対話メディアによって授業中の立ち歩きや私語などによる学級全体の授業が成り立たなくなるという小1プロブレムを回避できる可能性を示している.},
  file      = {中西惇也2014a.pdf:pdf/中西惇也2014a.pdf:PDF},
  journal   = {第32回日本ロボット学会学術講演会 (RSJ2014)},
}
中村勇貴, 堀磨伊也, 吉村宏紀, 岩井儀雄, "携帯型遠隔操作アンドロイドを用いた振動子による誘導システム", 情報処理学会全国大会講演論文集, 東京電機大学, 東京, March, 2014.
Abstract: 携帯型遠隔操作アンドロイドとしてエルフォイドと呼ばれる通信メディアが研究されている. 現行の携帯電話機能の1つである道案内システムはエルフォイドにも必要である. 現行の道案内システムでは,基本的に映像のみで道案内を行うが, 道が入り組んでいるなど映像だけでは道案内しにくい箇所において映像に音声を加え道案内を行うことが主流となっている. しかし, 音声による道案内は騒音に弱く, また映像による道案内は画面を見入ることで, 段差につまづいたり, 人にぶつかるなどの危険性がある. 本研究では,それらの問題を解決するために振動子による誘導システムを提案する.
BibTeX:
@INPROCEEDINGS{中村勇貴2014,
  author = {中村勇貴 and 堀磨伊也 and 吉村宏紀 and 岩井儀雄},
  title = {携帯型遠隔操作アンドロイドを用いた振動子による誘導システム},
  booktitle = {情報処理学会全国大会講演論文集},
  year = {2014},
  address = {東京電機大学, 東京},
  month = Mar,
  abstract = {携帯型遠隔操作アンドロイドとしてエルフォイドと呼ばれる通信メディアが研究されている. 現行の携帯電話機能の1つである道案内システムはエルフォイドにも必要である.
	現行の道案内システムでは,基本的に映像のみで道案内を行うが, 道が入り組んでいるなど映像だけでは道案内しにくい箇所において映像に音声を加え道案内を行うことが主流となっている.
	しかし, 音声による道案内は騒音に弱く, また映像による道案内は画面を見入ることで, 段差につまづいたり, 人にぶつかるなどの危険性がある.
	本研究では,それらの問題を解決するために振動子による誘導システムを提案する.},
  day = {11-13},
  url = {https://www.gakkai-web.net/gakkai/ipsj/76program/data/pdf/1ZB-6.html}
}
境くりま, 石井カルロス寿憲, 港隆史, 石黒浩, "発話者の音声に対応する動作生成と遠隔操作ロボットへの動作の付加効果", 第39回人工知能学会 AI チャレンジ研究会, 京都大学, 京都, pp. 7-13, March, 2014.
Abstract: 本論文では,遠隔操作対話ロボットの頭部動作を操作者の音声情報のみから自動生成するシステムを提案する.遠隔対話では発話音声と一致した頭部動作の表現が必要となるため,発話の意味(相槌や発話の保持などの談話機能)を言語情報と韻律情報を用いてをリアルタイムで推定し,推定した談話機能に基づき頭部動作を生成する.提案システムには推定誤りが含まれ,対話に適さない動作が生成される場合がある.そのため,提案システムを用いた対話時の動作の印象を被験者実験により評価した.主観評価から,提案システムによる動作を付加することで,ロボットの動作がより対話に適したものになることが示された.
BibTeX:
@Inproceedings{境くりま2014,
  author    = {境くりま and 石井カルロス寿憲 and 港隆史 and 石黒浩},
  title     = {発話者の音声に対応する動作生成と遠隔操作ロボットへの動作の付加効果},
  booktitle = {第39回人工知能学会 AI チャレンジ研究会},
  year      = {2014},
  pages     = {7-13},
  address   = {京都大学, 京都},
  month     = Mar,
  day       = {18},
  url       = {http://www.ai-gakkai.or.jp/sig-challenge-39/},
  etitle    = {Online speech-driven head motion generation system and evaluation on a tele-operated robot},
  abstract  = {本論文では,遠隔操作対話ロボットの頭部動作を操作者の音声情報のみから自動生成するシステムを提案する.遠隔対話では発話音声と一致した頭部動作の表現が必要となるため,発話の意味(相槌や発話の保持などの談話機能)を言語情報と韻律情報を用いてをリアルタイムで推定し,推定した談話機能に基づき頭部動作を生成する.提案システムには推定誤りが含まれ,対話に適さない動作が生成される場合がある.そのため,提案システムを用いた対話時の動作の印象を被験者実験により評価した.主観評価から,提案システムによる動作を付加することで,ロボットの動作がより対話に適したものになることが示された.},
  file      = {境くりま2014.pdf:pdf/境くりま2014.pdf:PDF},
}
河合将吾, 堀磨伊也, 吉村宏紀, 岩井儀雄, "顔追跡精度向上のための画像局所特徴量評価", 信学技報(電子情報通信学会 技術研究報告, パターン認識・メディア理解研究会(PRMU2014)), vol. 113, no. 493, 早稲田大学, 東京, pp. pp. 197-202, March, 2014.
Abstract: コミュニケーションロボットと対話を行う際には,対象の顔を正確に検出,追跡する必要がある.本研究で用いる顔の特徴点を使用する顔追跡手法 (CLM) では,次フレームの顔の特徴点位置を前フレームの特徴点位置から推定することで顔追跡を行う.次フレームの特徴点位置は特徴量と識別器によって推定することができ,これらの種類,精度に依存して,顔追跡の精度が変化する.そこで,本研究では顔追跡の精度向上のためにさまざまな特徴量および識別器の評価を行う.
BibTeX:
@INPROCEEDINGS{河合将吾2014,
  author = {河合将吾 and 堀磨伊也 and 吉村宏紀 and 岩井儀雄},
  title = {顔追跡精度向上のための画像局所特徴量評価},
  booktitle = {信学技報(電子情報通信学会 技術研究報告, パターン認識・メディア理解研究会(PRMU2014))},
  year = {2014},
  volume = {113},
  number = {493},
  pages = {pp. 197-202},
  address = {早稲田大学, 東京},
  month = Mar,
  abstract = {コミュニケーションロボットと対話を行う際には,対象の顔を正確に検出,追跡する必要がある.本研究で用いる顔の特徴点を使用する顔追跡手法
	(CLM) では,次フレームの顔の特徴点位置を前フレームの特徴点位置から推定することで顔追跡を行う.次フレームの特徴点位置は特徴量と識別器によって推定することができ,これらの種類,精度に依存して,顔追跡の精度が変化する.そこで,本研究では顔追跡の精度向上のためにさまざまな特徴量および識別器の評価を行う.},
  day = {13-14},
  eabstract = {We present local feature evaluation for a constrained local model
	(CLM) framework.We target facial images captured by a mobile camera
	such as a smartphone. When recognizing facial images captured by
	a mobile camera, changes in lighting conditions and image degradation
	from motion blur are considerable problems. In the CLM framework,
	the optimization strategy is local expert-based deformable model
	fitting. The likelihood of alignment at a particular landmark location
	is acquired beforehand using the local features of a large number
	of images and is used for estimating model parameters. In this learning
	phase, the features and classifiers used have a great influence on
	the accuracy of estimation in landmark locations. In our study, tracking
	accuracy can be improved by changing the features and classifiers
	for parts of the face. In the experiments, the likelihood map was
	generated using various features and classifiers, and the accuracy
	of landmark locations was compared with the conventional method.},
  etitle = {Evaluation of image local features for the improvement of face tracking
	accuracy},
  keywords = {顔追跡; 局所特徴量; 識別器; Constrained Local Model (CLM)},
  url = {http://www.ieice.org/ken/paper/20140314rBlT/},
}
Ryuji Yamazaki, Marco Nørskov, "Self-alteration in HRI", Poster presentation at International Conference : Going Beyond the Laboratory - Ethical and Societal Challenges for Robotics, Hanse Wissenschaftskolleg (HWK) - Institute for Advanced Study, Delmenhorst, Germany, February, 2014.
BibTeX:
@Inproceedings{Yamazaki2014,
  author    = {Ryuji Yamazaki and Marco N\orskov},
  title     = {Self-alteration in HRI},
  booktitle = {International Conference : Going Beyond the Laboratory - Ethical and Societal Challenges for Robotics},
  year      = {2014},
  address   = {Hanse Wissenschaftskolleg (HWK) - Institute for Advanced Study, Delmenhorst, Germany},
  month     = Feb,
  day       = {13-15},
  file      = {Yamazaki2014.pdf:pdf/Yamazaki2014.pdf:PDF},
}
鶴田悠, 堀磨伊也, 吉村宏紀, 岩井儀雄, "エルフォイドのためのアニメーションの誇張表現による感情の伝達", IEEE 広島支部学生シンポジウム(HISS), 鳥取大学, 鳥取, November, 2013.
BibTeX:
@INPROCEEDINGS{鶴田悠2013b,
  author = {鶴田悠 and 堀磨伊也 and 吉村宏紀 and 岩井儀雄},
  title = {エルフォイドのためのアニメーションの誇張表現による感情の伝達},
  booktitle = {IEEE 広島支部学生シンポジウム(HISS)},
  year = {2013},
  address = {鳥取大学, 鳥取},
  month = Nov,
  day = {16-17},
}
藤江祐平, 堀磨伊也, 吉村宏紀, 岩井儀雄, "エルフォイドのための色効果を用いた感情の伝達", IEEE広島支部学生シンポジウム(HISS), 鳥取大学, 鳥取, November, 2013.
BibTeX:
@INPROCEEDINGS{藤江祐平2013,
  author = {藤江祐平 and 堀磨伊也 and 吉村宏紀 and 岩井儀雄},
  title = {エルフォイドのための色効果を用いた感情の伝達},
  booktitle = {IEEE広島支部学生シンポジウム(HISS)},
  year = {2013},
  address = {鳥取大学, 鳥取},
  month = Nov,
  day = {16-17},
}
河合将吾, 堀磨伊也, 吉村宏紀, 岩井儀雄, "顔追跡のための局所特徴評価", IEEE広島支部学生シンポジウム(HISS), 鳥取大学, 鳥取, November, 2013.
BibTeX:
@INPROCEEDINGS{河合将吾2013b,
  author = {河合将吾 and 堀磨伊也 and 吉村宏紀 and 岩井儀雄},
  title = {顔追跡のための局所特徴評価},
  booktitle = {IEEE広島支部学生シンポジウム(HISS)},
  year = {2013},
  address = {鳥取大学, 鳥取},
  month = Nov,
  day = {16-17},
}
桑村海光, 山崎竜二, 西尾修一, 石黒浩, "テレノイドによる高齢者支援 ~ 特別養護老人ホームへの導入の経過報告 ~", 電子情報通信学会技術研究報告, 福祉情報工学研究会, no. WIT2013-47, 霧島観光ホテル, 鹿児島, pp. 23-28, October, 2013.
Abstract: 近年、介護を支援するロボットや機器の導入が注目されており、新しい技術を導入することで、高齢者の自立性を高め、介護福祉士の負担を軽減することが来たいされている。しかし、新しい機器を導入するためには、施設を運営するスタッフや現場で働く介護福祉士の理解が必要で、特に実際に用いる介護福祉士には使い方、気を付ける点を熟知する必要がある。また、入居している高齢者にも新しい機器に対して不安を感じないように慣れる必要がある。本論文では、遠隔操作型アンドロイド「テレノイド」を施設に導入した事例を通して、新しい機器の導入時の注意事項、そしてその際の改善案について述べる。
BibTeX:
@Inproceedings{桑村海光2013a,
  author    = {桑村海光 and 山崎竜二 and 西尾修一 and 石黒浩},
  title     = {テレノイドによる高齢者支援 ~ 特別養護老人ホームへの導入の経過報告 ~},
  booktitle = {電子情報通信学会技術研究報告},
  year      = {2013},
  number    = {WIT2013-47},
  pages     = {23-28},
  address   = {霧島観光ホテル, 鹿児島},
  month     = Oct,
  publisher = {福祉情報工学研究会},
  day       = {25-27},
  url       = {http://www.ieice.org/ken/paper/20131026wBGW/},
  etitle    = {Elderly Support using Telenoid : A case report introducing to the care facility},
  abstract  = {近年、介護を支援するロボットや機器の導入が注目されており、新しい技術を導入することで、高齢者の自立性を高め、介護福祉士の負担を軽減することが来たいされている。しかし、新しい機器を導入するためには、施設を運営するスタッフや現場で働く介護福祉士の理解が必要で、特に実際に用いる介護福祉士には使い方、気を付ける点を熟知する必要がある。また、入居している高齢者にも新しい機器に対して不安を感じないように慣れる必要がある。本論文では、遠隔操作型アンドロイド「テレノイド」を施設に導入した事例を通して、新しい機器の導入時の注意事項、そしてその際の改善案について述べる。},
  eabstract = {With the progress of the aging society, numbers of robots and other new devices for elderly care are intensively studied and developed. However, when introducing such new devices, we need to be careful, especially in the elderly facilities. Care staffs have to obtain deep understanding of their usages and effects. Besides, efforts have to be paid so that elderlies can gradually become familiar with the devices. In this paper, we describe the case study of introducing teleoperated android "Telenoid" to the elderly facilities and discuss issues that need attention on introducing new technology to the elderly facilities.},
  file      = {桑村海光2013a.pdf:pdf/桑村海光2013a.pdf:PDF},
  keywords  = {介護ロボット, 山崎竜二, 西尾修一, 石黒浩},
}
住岡英信, 幸田健介, 西尾修一, 港隆史, 石黒浩, "土偶の変遷に基づくコミュニケーションメディアのミニマルデザインの検討", 情報処理学会関西支部大会, 大阪大学中之島センター, 大阪, pp. C-08, September, 2013.
Abstract: コミュニケーションアバターの外観は遠隔地の話者を感じるために大きな役割を果たす.本研究では,アバターを対話者と感じるための最小要素を人型表現への取り組みである土偶の発展から考察し,心理評価実験により検討する.
BibTeX:
@Inproceedings{住岡英信2013,
  author          = {住岡英信 and 幸田健介 and 西尾修一 and 港隆史 and 石黒浩},
  title           = {土偶の変遷に基づくコミュニケーションメディアのミニマルデザインの検討},
  booktitle       = {情報処理学会関西支部大会},
  year            = {2013},
  pages           = {C-08},
  address         = {大阪大学中之島センター, 大阪},
  month           = Sep,
  day             = {25},
  url             = {https://ipsj.ixsq.nii.ac.jp/ej/?action=pages_view_main&active_action=repository_view_main_item_detail&item_id=96828&item_no=1&page_id=13&block_id=8},
  etitle          = {Design considerations from chronologial development of Dogu},
  abstract        = {コミュニケーションアバターの外観は遠隔地の話者を感じるために大きな役割を果たす.本研究では,アバターを対話者と感じるための最小要素を人型表現への取り組みである土偶の発展から考察し,心理評価実験により検討する.},
  file            = {住岡英信2013.pdf:pdf/住岡英信2013.pdf:PDF},
}
中道大介, 西尾修一, 石黒浩, "遠隔操作型アンドロイド「テレノイド」の遠隔操作とその訓練", 情報処理学会関西支部大会, 大阪大学中之島センター, 大阪, pp. G-01, September, 2013.
Abstract: 遠隔操作型アンドロイドの操作には慣れる時間を要する操作者も多く,効果的な訓練方法の確立が必要である. 本研究では,馴化訓練による操作感覚への影響を,アンドロイドへの身体感覚の転移を指標として検証した.
BibTeX:
@Inproceedings{中道大介2013,
  author          = {中道大介 and 西尾修一 and 石黒浩},
  title           = {遠隔操作型アンドロイド「テレノイド」の遠隔操作とその訓練},
  booktitle       = {情報処理学会関西支部大会},
  year            = {2013},
  pages           = {G-01},
  address         = {大阪大学中之島センター, 大阪},
  month           = Sep,
  day             = {25},
  url             = {https://ipsj.ixsq.nii.ac.jp/ej/?action=pages_view_main&active_action=repository_view_main_item_detail&item_id=96872&item_no=1&page_id=13&block_id=8},
  etitle          = {Teleoperation of Telenoid and it's training},
  abstract        = {遠隔操作型アンドロイドの操作には慣れる時間を要する操作者も多く,効果的な訓練方法の確立が必要である. 本研究では,馴化訓練による操作感覚への影響を,アンドロイドへの身体感覚の転移を指標として検証した.},
  file            = {中道大介2013.pdf:pdf/中道大介2013.pdf:PDF},
}
鶴田悠, 堀磨伊也, 吉村宏紀, 岩井儀雄, "エルフォイドのためのアニメーション効果の付加による感情伝達", 情報科学技術フォーラム(FIT), 鳥取大学, 鳥取, September, 2013.
Abstract: 本報告では,遠隔コミュニケーションにおいて存在感を伝達するために,携帯型遠隔操作アンドロイド「エルフォイド」を用いて感情を伝達する手法を提案する.本研究では「エルフォイド」の駆動部が少ない問題を解決するために,背部に搭載したプロジェクタから表情アニメーションを投影し,感情を擬似的に表出させる.ここで,人の表情を単純に投影するだけではなく,表情に漫画で利用される誇張表現を追加することで,情動を伝わりやすくする.本稿では,定性実験により正確に情動が伝達されることを示し,定量実験により会話満足度を示し,本システムの有用性を述べる.
BibTeX:
@INPROCEEDINGS{鶴田悠2013c,
  author = {鶴田悠 and 堀磨伊也 and 吉村宏紀 and 岩井儀雄},
  title = {エルフォイドのためのアニメーション効果の付加による感情伝達},
  booktitle = {情報科学技術フォーラム(FIT)},
  year = {2013},
  address = {鳥取大学, 鳥取},
  month = Sep,
  abstract = {本報告では,遠隔コミュニケーションにおいて存在感を伝達するために,携帯型遠隔操作アンドロイド「エルフォイド」を用いて感情を伝達する手法を提案する.本研究では「エルフォイド」の駆動部が少ない問題を解決するために,背部に搭載したプロジェクタから表情アニメーションを投影し,感情を擬似的に表出させる.ここで,人の表情を単純に投影するだけではなく,表情に漫画で利用される誇張表現を追加することで,情動を伝わりやすくする.本稿では,定性実験により正確に情動が伝達されることを示し,定量実験により会話満足度を示し,本システムの有用性を述べる.},
  day = {4-6},
  url = {http://www.ipsj.or.jp/event/fit/fit2013/program/data/html/abstract/J-034.html}
}
中道大介, 住岡英信, 西尾修一, 石黒浩, "操作訓練による遠隔操作型アンドロイドへの身体感覚転移の度合いの向上", 第18回日本バーチャルリアリティ学会大会, グランフロント大阪, 大阪, pp. 331-334, September, 2013.
Abstract: 遠隔操作型アンドロイド「テレノイド」は操作者の身体動作と同期し,操作者の存在感を遠隔地に伝達できるロボットである.操作者がその操作に慣れ,テレノイドを自らの分身と感じて操作できるようになれば,遠隔コミュニケーションはより豊かになると考えられる.そこで本稿では,操作訓練とその効果を,身体感覚転移の度合いを指標として検証した.身体感覚転移とは,操作時にロボットが自らの身体であると錯覚する現象である.この検証の結果,テレノイドの後頭部を見て首の動作の同期を確認する訓練によって身体感覚転移の度合いが向上することが分かった.
BibTeX:
@Inproceedings{中道大介2013a,
  author          = {中道大介 and 住岡英信 and 西尾修一 and 石黒浩},
  title           = {操作訓練による遠隔操作型アンドロイドへの身体感覚転移の度合いの向上},
  booktitle       = {第18回日本バーチャルリアリティ学会大会},
  year            = {2013},
  pages           = {331-334},
  address         = {グランフロント大阪, 大阪},
  month           = Sep,
  day             = {18-20},
  url             = {http://conference.vrsj.org/ac2013/program/144/},
  etitle          = {Enhancement of body ownership transfer to teleoperated android through training},
  abstract        = {遠隔操作型アンドロイド「テレノイド」は操作者の身体動作と同期し,操作者の存在感を遠隔地に伝達できるロボットである.操作者がその操作に慣れ,テレノイドを自らの分身と感じて操作できるようになれば,遠隔コミュニケーションはより豊かになると考えられる.そこで本稿では,操作訓練とその効果を,身体感覚転移の度合いを指標として検証した.身体感覚転移とは,操作時にロボットが自らの身体であると錯覚する現象である.この検証の結果,テレノイドの後頭部を見て首の動作の同期を確認する訓練によって身体感覚転移の度合いが向上することが分かった.},
  file            = {中道大介2013a.pdf:pdf/中道大介2013a.pdf:PDF},
  keywords        = {遠隔操作; 訓練; 身体認知; 遠隔存在感},
}
Ryuji Yamazaki, Shuichi Nishio, Kaiko Kuwamura, "Identity Construction of the Hybrid of Robot and Human", In 22nd IEEE International Symposium on Robot and Human Interactive Communication, Workshop on Enhancement/Training of Social Robotics Teleoperation and its Applications, Gyeongju, Korea, August, 2013.
BibTeX:
@Inproceedings{Yamazaki2013,
  author    = {Ryuji Yamazaki and Shuichi Nishio and Kaiko Kuwamura},
  title     = {Identity Construction of the Hybrid of Robot and Human},
  booktitle = {22nd IEEE International Symposium on Robot and Human Interactive Communication, Workshop on Enhancement/Training of Social Robotics Teleoperation and its Applications},
  year      = {2013},
  address   = {Gyeongju, Korea},
  month     = Aug,
  day       = {26-29},
}
村田宙将, 濱田隆平, 堀磨伊也, 吉村宏紀, 岩井儀雄, "CGアバタとのインタラクションによるAR案内システム (ポスター発表)", 第16回画像の認識・理解シンポジウム (MIRU 2013), 国立情報学研究所, 東京, July, 2013.
BibTeX:
@INPROCEEDINGS{村田宙将2013,
  author = {村田宙将 and 濱田隆平 and 堀磨伊也 and 吉村宏紀 and 岩井儀雄},
  title = {CGアバタとのインタラクションによるAR案内システム},
  booktitle = {第16回画像の認識・理解シンポジウム (MIRU 2013)},
  year = {2013},
  address = {国立情報学研究所, 東京},
  month = Jul,
  day = {29-1},
  file = {村田宙将2013.pdf:pdf/村田宙将2013.pdf:PDF},
}
Yu Tsuruda, Maiya Hori, Hiroki Yoshimura, Yoshio Iwai, "Generation of Facial Expression Emphasized with Cartoon Techniques Using a Cellular-Phone-Type Teleoperated Robot with a Mobile Projector", In the 15th International Conference on Human-Computer Interaction (HCI 2013), Las Vegas, USA, pp. pp. 391-400, July, 2013.
Abstract: We propose a method for generating facial expressions emphasized with cartoon techniques using a cellular-phone-type teleoperated android with a mobile projector. Elfoid is designed to transmit the speaker’s presence to their communication partner using a camera and microphone, and has a soft exterior that provides the look and feel of human skin. To transmit the speaker’s presence, Elfoid sends not only the voice of the speaker but also emotional information captured by the camera and microphone. Elfoid cannot, however, display facial expressions because of its compactness and a lack of sufficiently small actuator motors. In this research, facial expressions are generated using Elfoid’s head-mounted mobile projector to overcome the problem. Additionally, facial expressions are emphasized using cartoon techniques: movements around the mouth and eyes are emphasized, the silhouette of the face and shapes of the eyes are varied by projection effects, and color stimuli that induce a particular emotion are added. In an experiment, representative face expressions are generated with Elfoid and emotions conveyed to users are investigated by subjective evaluation.
BibTeX:
@INPROCEEDINGS{Tsuruda2013a,
  author = {Yu Tsuruda and Maiya Hori and Hiroki Yoshimura and Yoshio Iwai},
  title = {Generation of Facial Expression Emphasized with Cartoon Techniques
	Using a Cellular-Phone-Type Teleoperated Robot with a Mobile Projector},
  booktitle = {the 15th International Conference on Human-Computer Interaction (HCI
	2013)},
  year = {2013},
  pages = {pp. 391-400},
  address = {Las Vegas, USA},
  month = Jul,
  abstract = {We propose a method for generating facial expressions emphasized with
	cartoon techniques using a cellular-phone-type teleoperated android
	with a mobile projector. Elfoid is designed to transmit the speaker’s
	presence to their communication partner using a camera and microphone,
	and has a soft exterior that provides the look and feel of human
	skin. To transmit the speaker’s presence, Elfoid sends not only the
	voice of the speaker but also emotional information captured by the
	camera and microphone. Elfoid cannot, however, display facial expressions
	because of its compactness and a lack of sufficiently small actuator
	motors. In this research, facial expressions are generated using
	Elfoid’s head-mounted mobile projector to overcome the problem. Additionally,
	facial expressions are emphasized using cartoon techniques: movements
	around the mouth and eyes are emphasized, the silhouette of the face
	and shapes of the eyes are varied by projection effects, and color
	stimuli that induce a particular emotion are added. In an experiment,
	representative face expressions are generated with Elfoid and emotions
	conveyed to users are investigated by subjective evaluation.},
  day = {21-26},
  doi = {10.1007/978-3-642-39342-6_43},
  url = {http://link.springer.com/chapter/10.1007%2F978-3-642-39342-6_43}
}
鶴田悠, 藤江祐平, 堀磨伊也, 吉村宏紀, 岩井儀雄, "携帯型遠隔操作アンドロイドを用いた感情伝達 (ポスター発表)", 第16回画像の認識・理解シンポジウム (MIRU 2013), 国立情報学研究所, 東京, July, 2013.
BibTeX:
@INPROCEEDINGS{鶴田悠2013,
  author = {鶴田悠 and 藤江祐平 and 堀磨伊也 and 吉村宏紀 and 岩井儀雄},
  title = {携帯型遠隔操作アンドロイドを用いた感情伝達},
  booktitle = {第16回画像の認識・理解シンポジウム ({MIRU} 2013)},
  year = {2013},
  address = {国立情報学研究所, 東京},
  month = Jul,
  day = {29-1},
  file = {鶴田悠2013.pdf:pdf/鶴田悠2013.pdf:PDF},
}
鶴田悠, 藤江祐平, 堀磨伊也, 吉村宏紀, 岩井儀雄, "携帯型遠隔操作アンドロイドを用いた感情伝達", 画像の認識・理解シンポジウム(MIRU2013), 国立情報学研究所, 東京, July, 2013.
BibTeX:
@INPROCEEDINGS{鶴田悠2013e,
  author = {鶴田悠 and 藤江祐平 and 堀磨伊也 and 吉村宏紀 and 岩井儀雄},
  title = {携帯型遠隔操作アンドロイドを用いた感情伝達},
  booktitle = {画像の認識・理解シンポジウム(MIRU2013)},
  year = {2013},
  address = {国立情報学研究所, 東京},
  month = Jul,
  day = {29-1},
}
河合将吾, 堀磨伊也, 吉村宏紀, 岩井儀雄, "顔追跡のための顔画像における局所特徴評価", 画像の認識・理解シンポジウム(MIRU2013), 国立情報学研究所, 東京, July, 2013.
BibTeX:
@INPROCEEDINGS{河合将吾2013c,
  author = {河合将吾 and 堀磨伊也 and 吉村宏紀 and 岩井儀雄},
  title = {顔追跡のための顔画像における局所特徴評価},
  booktitle = {画像の認識・理解シンポジウム(MIRU2013)},
  year = {2013},
  address = {国立情報学研究所, 東京},
  month = Jul,
  day = {29-1},
}
河合将吾, 堀磨伊也, 吉村宏紀, 岩井儀雄, "顔追跡のための顔画像における局所特徴評価 (ポスター発表)", 第16回画像の認識・理解シンポジウム (MIRU 2013), 国立情報学研究所, 東京, July, 2013.
BibTeX:
@INPROCEEDINGS{河合将吾2013a,
  author = {河合将吾 and 堀磨伊也 and 吉村宏紀 and 岩井儀雄},
  title = {顔追跡のための顔画像における局所特徴評価},
  booktitle = {第16回画像の認識・理解シンポジウム (MIRU 2013)},
  year = {2013},
  address = {国立情報学研究所, 東京},
  month = Jul,
  day = {29-1},
}
鶴田悠, 堀磨伊也, 吉村宏紀, 岩井儀雄, "携帯型遠隔操作アンドロイドのためのアニメーション効果の付加による感情伝達", 電子情報通信学会 技術研究報告, ヒューマンコミュニケーション基礎研究会 2013年5月研究会 (HCS2013-5), 沖縄産業支援センター, 沖縄, May, 2013.
Abstract: 遠隔地の人とのコミュニケーションにおいて,より臨場感を高めるために人間に極度に似せたヒューマノイドを用いて存在感を伝達する研究が行われている.本研究では,存在感を伝達し通信相手と円滑なコミュニケーションを図るために,エルフォイドと呼ばれる携帯型アンドロイドを用いて人間のような表情や仕草を生成し,情報を伝達する.しかしながら,エルフォイドは小型で持ち運び可能なことを優先したため駆動部が少なく,顔の変化を精密に表現できない.そこで,エルフォイドに搭載されたモバイルプロジェクタでエルフォイドの顔に背面から投影することで擬似的に表情を生成する.本研究ではFACSに定義されている顔の動作に,漫画の効果を追加して情動を伝わりやすくする.さらにアニメーションで見られる漫画の効果に基づき,目や口の動作を強調させるとともに,顔色を変化させることで情動の伝達を明確に行う.実験では人間が表出する基本的感情に対して,エルフォイド上で表情を生成し,感情が正しく伝達されているかを主観評価実験により調査する.
BibTeX:
@INPROCEEDINGS{鶴田悠2013a,
  author = {鶴田悠 and 堀磨伊也 and 吉村宏紀 and 岩井儀雄},
  title = {携帯型遠隔操作アンドロイドのためのアニメーション効果の付加による感情伝達},
  booktitle = {電子情報通信学会 技術研究報告, ヒューマンコミュニケーション基礎研究会 2013年5月研究会 (HCS2013-5)},
  year = {2013},
  address = {沖縄産業支援センター, 沖縄},
  month = May,
  abstract = {遠隔地の人とのコミュニケーションにおいて,より臨場感を高めるために人間に極度に似せたヒューマノイドを用いて存在感を伝達する研究が行われている.本研究では,存在感を伝達し通信相手と円滑なコミュニケーションを図るために,エルフォイドと呼ばれる携帯型アンドロイドを用いて人間のような表情や仕草を生成し,情報を伝達する.しかしながら,エルフォイドは小型で持ち運び可能なことを優先したため駆動部が少なく,顔の変化を精密に表現できない.そこで,エルフォイドに搭載されたモバイルプロジェクタでエルフォイドの顔に背面から投影することで擬似的に表情を生成する.本研究ではFACSに定義されている顔の動作に,漫画の効果を追加して情動を伝わりやすくする.さらにアニメーションで見られる漫画の効果に基づき,目や口の動作を強調させるとともに,顔色を変化させることで情動の伝達を明確に行う.実験では人間が表出する基本的感情に対して,エルフォイド上で表情を生成し,感情が正しく伝達されているかを主観評価実験により調査する.},
  day = {30-31},
  eabstract = {We propose a method for generating facial expression emphasized withcartoon
	techniques using a cellular-phone-type teleoperated android with
	a mobile projector. Elfoid is designed to transmit the speaker’s
	presence to their communication partner using a camera and microphone,
	and has a soft exterior that provides the look and feel of human
	skin. To transmit the speaker’s presence, Elfoid sends not only the
	voice of the speaker, but also emotional information captured by
	the camera and microphone. Elfoid cannot, however, display facial
	expressions because of its compactness and a lack of sufficiently
	small actuator motors. In this research, facial expressions are generated
	using Elfoid’s head-mounted mobile projector to overcome the problem.
	Additionally, facial expressions are emphasized using the cartoon
	technique. The movements around the mouth and eyebrows are emphasized.
	Silhouette of face and shapes of eyes are varied by projection effects.
	Moreover, color stimuli that induce a particular emotion are added.
	In this experiment, representative face expressions are generated
	with Elfoid and emotionsconveyed to users are investigated by subjective
	evaluation.},
  etitle = {Emotion transmission by addition of animation effect for a cellular-phone-type
	teleoperated android},
  file = {鶴田悠2013a.pdf:pdf/鶴田悠2013a.pdf:PDF},
  keywords = {遠隔操作ロボット; コミュニケーションロボット; 感情伝達},
}
鶴田悠, 堀磨伊也, 吉村宏紀, 岩井儀雄, "携帯型遠隔操作アンドロイドのためのアニメーション効果の付加による感情伝達", 信学技法(ヒューマンコミュニケーション基礎(HCS)研究会), 沖縄産業支援センター, 沖縄, May, 2013.
BibTeX:
@INPROCEEDINGS{鶴田悠2013d,
  author = {鶴田悠 and 堀磨伊也 and 吉村宏紀 and 岩井儀雄},
  title = {携帯型遠隔操作アンドロイドのためのアニメーション効果の付加による感情伝達},
  booktitle = {信学技法(ヒューマンコミュニケーション基礎(HCS)研究会)},
  year = {2013},
  address = {沖縄産業支援センター, 沖縄},
  month = May,
  day = {30-31},
}
Yuya Wada, Kazuaki Tanaka, Hideyuki Nakanishi, "Strengthening Social Telepresence and Social Bonding by a Remote Handshake", Poster presentation at International Conference on Human Robot Interaction (HRI 2013) Demo Session, Miraikan, Tokyo, March, 2013.
BibTeX:
@INPROCEEDINGS{Wada2013,
  author = {Yuya Wada and Kazuaki Tanaka and Hideyuki Nakanishi},
  title = {Strengthening Social Telepresence and Social Bonding by a Remote
	Handshake},
  booktitle = {International Conference on Human Robot Interaction ({HRI} 2013)
	Demo Session},
  year = {2013},
  address = {Miraikan, Tokyo},
  month = Mar,
  day = {3-6},
}
河合将吾, 堀磨伊也, 吉村宏紀, 岩井儀雄, "顔追跡のための顔画像における特徴量評価 (ポスター発表)", 電子情報通信学会 総合大会 学生ポスターセッション, 岐阜大学, 岐阜, March, 2013.
BibTeX:
@INPROCEEDINGS{河合将吾2013,
  author = {河合将吾 and 堀磨伊也 and 吉村宏紀 and 岩井儀雄},
  title = {顔追跡のための顔画像における特徴量評価},
  booktitle = {電子情報通信学会 総合大会 学生ポスターセッション},
  year = {2013},
  address = {岐阜大学, 岐阜},
  month = Mar,
  day = {19-22},
  file = {河合将吾2013a.pdf:pdf/河合将吾2013a.pdf:PDF},
}
塩崎恭平, 田中一晶, 中西英之, "ソーシャルテレプレゼンスの向上に向けた遠隔指相撲ロボットハンドの開発 (ポスター発表)", 第3回対話システムシンポジウム, ニューウェルシティ湯河原, 静岡, February, 2013.
BibTeX:
@INPROCEEDINGS{塩崎恭平2013,
  author = {塩崎恭平 and 田中一晶 and 中西英之},
  title = {ソーシャルテレプレゼンスの向上に向けた遠隔指相撲ロボットハンドの開発},
  booktitle = {第3回対話システムシンポジウム},
  year = {2013},
  address = {ニューウェルシティ湯河原, 静岡},
  month = Feb,
  day = {1-2},
}
塩崎恭平, 田中一晶, 中西英之, "遠隔指相撲ロボットハンドの開発 (ポスター発表)", インタラクション2013, 日本科学未来館、東京, pp. 2EXB-49, February, 2013.
BibTeX:
@INPROCEEDINGS{塩崎恭平2013a,
  author = {塩崎恭平 and 田中一晶 and 中西英之},
  title = {遠隔指相撲ロボットハンドの開発},
  booktitle = {インタラクション2013},
  year = {2013},
  pages = {2EXB-49},
  address = {日本科学未来館、東京},
  month = Feb,
}
Maiya Hori, Hideki Takakura, Hironori Yoshimura, Yoshio Iwai, "Generation of Facial Expression for Communication Using Elfoid with Projector", In the International Workshop on Multimodal Pattern Recognition of Social Signals in Human Computer Interaction (MPRSS 2012), Tsukuba, Japan, November, 2012.
BibTeX:
@INPROCEEDINGS{Hori2012,
  author = {Maiya Hori and Hideki Takakura and Hironori Yoshimura and Yoshio
	Iwai},
  title = {Generation of Facial Expression for Communication Using Elfoid with
	Projector},
  booktitle = {the International Workshop on Multimodal Pattern Recognition of Social
	Signals in Human Computer Interaction (MPRSS 2012)},
  year = {2012},
  address = {Tsukuba, Japan},
  month = Nov,
  doi = {10.1007/978-3-642-39342-6_43},
  url = {http://link.springer.com/chapter/10.1007%2F978-3-642-39342-6_43}
}
大嶋悠司, 田中一晶, 中西英之, 石黒浩, "遠隔対話用ロボットの頷きの自動化と モーションチューリングテストによる検証", 第26回人工知能学会全国大会, ゆ~あいプラザ山口県社会福祉会館, 山口, pp. 3K1-R-11-2, June, 2012.
Abstract: This research suggests Motion Turing test which measure the credibility of that a robot is synchronized with human. In this test, a participant talks to robot which is synchronized with its operator or move automatically. Then, the participant judges the robot’s motion in conversation the robot is synchronized with its operator and move automatically. We discover elements, which make believe motion of robot is synchronized with human by Motion Turing test experiment.
BibTeX:
@INPROCEEDINGS{大嶋悠司2012,
  author = {大嶋悠司 and 田中一晶 and 中西英之 and 石黒浩},
  title = {遠隔対話用ロボットの頷きの自動化と モーションチューリングテストによる検証},
  booktitle = {第26回人工知能学会全国大会},
  year = {2012},
  pages = {3K1-R-11-2},
  address = {ゆ~あいプラザ山口県社会福祉会館, 山口},
  month = Jun,
  abstract = {This research suggests Motion Turing test which measure the credibility
	of that a robot is synchronized with human. In this test, a participant
	talks to robot which is synchronized with its operator or move automatically.
	Then, the participant judges the robot’s motion in conversation the
	robot is synchronized with its operator and move automatically. We
	discover elements, which make believe motion of robot is synchronized
	with human by Motion Turing test experiment.},
  day = {14},
  file = {大嶋悠司2012.pdf:大嶋悠司2012.pdf:PDF},
}
和田侑也, 田中一晶, 中西英之, "遠隔握手用ロボットハンドによる会話相手の存在感の向上", 第26回人工知能学会全国大会, ゆ~あいプラザ山口県社会福祉会館, 山口, pp. 3L2-R-12-2, June, 2012.
Abstract: There is a problem that is less presence of a remote person in general videoconferencing systems than in face-to-face environments. We thought that a pseudo-handshake with a remote person enhanced his/her presence. In this study, we developed a robot hand that reproduced the feeling of Handshakes: a strong grip, warmth, and softness, and equipped a videoconferencing system with the robot hand. We conducted an experiment to confirm that this system enhanced the presence of the remote person.
BibTeX:
@INPROCEEDINGS{和田侑也2012,
  author = {和田侑也 and 田中一晶 and 中西英之},
  title = {遠隔握手用ロボットハンドによる会話相手の存在感の向上},
  booktitle = {第26回人工知能学会全国大会},
  year = {2012},
  pages = {3L2-R-12-2},
  address = {ゆ~あいプラザ山口県社会福祉会館, 山口},
  month = Jun,
  abstract = {There is a problem that is less presence of a remote person in general
	videoconferencing systems than in face-to-face environments. We thought
	that a pseudo-handshake with a remote person enhanced his/her presence.
	In this study, we developed a robot hand that reproduced the feeling
	of Handshakes: a strong grip, warmth, and softness, and equipped
	a videoconferencing system with the robot hand. We conducted an experiment
	to confirm that this system enhanced the presence of the remote person.},
  day = {14},
  file = {和田侑也2012.pdf:和田侑也2012.pdf:PDF},
}
田中一晶, 山本健太, 尾上聡, 中西英之, 石黒浩, "「実体」は存在感を強化するか: ロボット会議がビデオ会議を代替する可能性", 情報処理学会研究報告 ヒューマンコンピュータインタラクション, 沖縄産業支援センター, 沖縄, pp. 2012-HCI-148, June, 2012.
BibTeX:
@INPROCEEDINGS{田中一晶2012a,
  author = {田中一晶 and 山本健太 and 尾上聡 and 中西英之 and 石黒浩},
  title = {「実体」は存在感を強化するか: ロボット会議がビデオ会議を代替する可能性},
  booktitle = {情報処理学会研究報告 ヒューマンコンピュータインタラクション},
  year = {2012},
  pages = {2012-HCI-148},
  address = {沖縄産業支援センター, 沖縄},
  month = Jun,
  day = {1-2},
}
藤江祐平, 堀磨伊也, 吉村宏紀, 岩井儀雄, "携帯型遠隔操作コミュニケーションロボットを用いたLED発光による感情伝達", 電子情報通信学会ヒューマンコミュニケーション基礎(HCS)研究会信学技報, vol. 112, no. 45, HCS2012-12, 沖縄, pp. 65-70, May, 2012.
Abstract: 近年,小型のコミュニケーションロボットの開発とともに,ロボットを介した遠隔コミュニケーションの 研究が盛んに行われている.このような研究において感情の伝達は非常に重要になっている.しかし,小型のロボッ トに人の表情を再現可能な小型のアクチュエータを搭載することは困難である.そこで,本研究では,人型の小型コ ミュニケーションロボットで色の提示を行うことで感情の伝達を試みる.従来,色の提示で生起する感情を調査した 研究は多数存在するが,人型のロボットを介して伝達可能な感情を調査した研究は少ない.そこで,本研究では人型 の小型遠隔操作コミュニケーションロボットを用いて搭載した LED の発光する箇所,発光の点滅パターンを変化させ た場合に,相手に伝達可能な感情をアンケートを用いた評価実験により調査する.
BibTeX:
@INPROCEEDINGS{藤江祐平2012,
  author = {藤江祐平 and 堀磨伊也 and 吉村宏紀 and 岩井儀雄},
  title = {携帯型遠隔操作コミュニケーションロボットを用いた{LED}発光による感情伝達},
  booktitle = {電子情報通信学会ヒューマンコミュニケーション基礎({HCS})研究会信学技報},
  year = {2012},
  volume = {112},
  number = {45, {HCS}2012-12},
  pages = {65-70},
  address = {沖縄},
  month = May,
  abstract = {近年,小型のコミュニケーションロボットの開発とともに,ロボットを介した遠隔コミュニケーションの 研究が盛んに行われている.このような研究において感情の伝達は非常に重要になっている.しかし,小型のロボッ
	トに人の表情を再現可能な小型のアクチュエータを搭載することは困難である.そこで,本研究では,人型の小型コ ミュニケーションロボットで色の提示を行うことで感情の伝達を試みる.従来,色の提示で生起する感情を調査した
	研究は多数存在するが,人型のロボットを介して伝達可能な感情を調査した研究は少ない.そこで,本研究では人型 の小型遠隔操作コミュニケーションロボットを用いて搭載した
	LED の発光する箇所,発光の点滅パターンを変化させ た場合に,相手に伝達可能な感情をアンケートを用いた評価実験により調査する.},
  day = {22-23},
  eabstract = {We propose a method for conveying emotions with light-emitting diodes
	that are embedded in a cel- lular-phone-type teleoperated android
	called Elfoid. Conveying the human presence plays an important role
	in communication to a partner in a remote place. Conventional systems
	are insufficient in terms of human presence. Elfoid is designed to
	transmit the presence of a speaker to a communication partner using
	a camera and microphone, and the soft exterior of Elfoid provides
	the look and feel of human skin. To transmit the presence of the
	speaker, Elfoid sends not only the voice of the speaker but also
	emotion information captured by the camera and micro- phone. Elfoid
	cannot, however, display facial expressions because of its compactness
	and the lack of sufficiently small actuator motors. Therefore, we
	use light-emitting diodes and generate color patterns to represent
	speaker’s emotion estimated by the camera. We focus on emotions that
	can be conveyed by Elfoid through light emission. In experiments,
	we investigate emotions conveyed with Elfoid by emitting various
	patterns of light.},
  etitle = {Emotion Transmission Using LED embedded in Cellular-phone type Teleoperated
	Communication Robot},
}
石井カルロス寿憲, 劉超然, 石黒浩, 萩田紀博, "フォルマントによる口唇動作生成の試み", 日本音響学会2012年春季研究発表会, 神奈川大学, 神奈川, pp. 373-374, March, 2012.
Abstract: 遠隔ロボットの口唇動作を遠隔者の声から自動的に生成することを背景に、フォルマント空間の写像変換による口唇動作生成手法を提案した。
BibTeX:
@Inproceedings{石井カルロス寿憲2012a,
  author          = {石井カルロス寿憲 and 劉超然 and 石黒浩 and 萩田紀博},
  title           = {フォルマントによる口唇動作生成の試み},
  booktitle       = {日本音響学会2012年春季研究発表会},
  year            = {2012},
  series          = {2-11-17},
  pages           = {373--374},
  address         = {神奈川大学, 神奈川},
  month           = Mar,
  day             = {13-15},
  etitle          = {Trials on a formant-based lip motion generation},
  abstract        = {遠隔ロボットの口唇動作を遠隔者の声から自動的に生成することを背景に、フォルマント空間の写像変換による口唇動作生成手法を提案した。},
  file            = {石井カルロス寿憲2012a.pdf:pdf/石井カルロス寿憲2012a.pdf:PDF},
}
原健太, 武村紀子, 岩井儀雄, 佐藤宏介, "対人インタラクションアバタの作成に必要な再生技術の検討", 電子情報通信学会技術報告PRMU, no. PRMU2011-169, 大阪, January, 2012.
BibTeX:
@INPROCEEDINGS{原健太2012,
  author = {原健太 and 武村紀子 and 岩井儀雄 and 佐藤宏介},
  title = {対人インタラクションアバタの作成に必要な再生技術の検討},
  booktitle = {電子情報通信学会技術報告PRMU},
  year = {2012},
  number = {PRMU2011-169},
  address = {大阪},
  month = Jan,
  day = {19},
}
北村謙典, 武村紀子, 岩井儀雄, 佐藤宏介, "照度変動に対する無意識下での表出行動検出", 情報処理学会研究報告CVIM, vol. 2012-CVIM-180, no. 48, 大阪, January, 2012.
BibTeX:
@INPROCEEDINGS{北村謙典2012,
  author = {北村謙典 and 武村紀子 and 岩井儀雄 and 佐藤宏介},
  title = {照度変動に対する無意識下での表出行動検出},
  booktitle = {情報処理学会研究報告CVIM},
  year = {2012},
  volume = {2012-CVIM-180},
  number = {48},
  address = {大阪},
  month = Jan,
  day = {19},
}
Yuhei Fujie, Maiya Hori, Hiroki Yoshimura, Yoshio Iwai, "Emotion Transmission Using a Cellular-phone-type Teleoperated Communication Robot with a Light-Emitting Diode", In the 2012 International Workshop on Human-Agent Interaction (iHAI 2012), 2012.
BibTeX:
@INPROCEEDINGS{Fujie2012,
  author = {Yuhei Fujie and Maiya Hori and Hiroki Yoshimura and Yoshio Iwai},
  title = {Emotion Transmission Using a Cellular-phone-type Teleoperated Communication
	Robot with a Light-Emitting Diode},
  booktitle = {the 2012 International Workshop on Human-Agent Interaction (i{HAI}
	2012)},
  year = {2012},
}
和田侑也, 田中一晶, 中西英之, "握手用ロボットハンドの開発: 人と握手している感覚を実現できるか?", HAIシンポジウム, 京都工芸繊維大学, pp. II-1B-4, December, 2011. (ベストデモンストレーション賞(16件中1位))
Abstract: 近年,人々の生活環境の中に,人と関わって活動 するロボットが普及しつつある.そういったロボットが身近にある環境では,人とロボットとのインタラクションの機会が増え,ロボットが,より親しみやすい物である事が求められてくる.そのために, ロボットが人に親しみやすい印象を与える方法を考える.人同士の場合,一般的に,対面した際に行う 行為の 1 つに,握手がある.人と人が握手を行うと, 身体的な接触をすることで,ただ会話をするだけという方法よりも,相手に親しみやすい印象を与えることが分かっている[1].同様に,人とロボットとのインタラクションにおいても,握手によって,物理的な接触をする事で,親しみやすい印象を与える効果が得られ,よりよい関係を構築する要因の1つに なる可能性がある.人とロボットが握手を行う先行研究では,神経振動子を用いて人が腕を振るリズムに同期してロボットが腕を振る方法が提案されている[3].また,遠隔地間において人と人とが擬似的に握手を行う研究では,フォースフィードバックによって腕振りを相手に伝えている[2].これらの研究は,腕振りを再現するものであり,ロボットの側からしっかりと人の手を「握る」ことができるロボットハンドはほとんど研究されていない.そこで,本研究では,人と人とが行う握手と同様に,しっかりとロボット側も手を握る事で,握手を再現する事ができるロボットハンドを開発する.
BibTeX:
@INPROCEEDINGS{和田侑也2011,
  author = {和田侑也 and 田中一晶 and 中西英之},
  title = {握手用ロボットハンドの開発: 人と握手している感覚を実現できるか?},
  booktitle = {HAIシンポジウム},
  year = {2011},
  pages = {II-1B-4},
  address = {京都工芸繊維大学},
  month = Dec,
  note = {ベストデモンストレーション賞(16件中1位)},
  abstract = {近年,人々の生活環境の中に,人と関わって活動 するロボットが普及しつつある.そういったロボットが身近にある環境では,人とロボットとのインタラクションの機会が増え,ロボットが,より親しみやすい物である事が求められてくる.そのために,
	ロボットが人に親しみやすい印象を与える方法を考える.人同士の場合,一般的に,対面した際に行う 行為の 1 つに,握手がある.人と人が握手を行うと,
	身体的な接触をすることで,ただ会話をするだけという方法よりも,相手に親しみやすい印象を与えることが分かっている[1].同様に,人とロボットとのインタラクションにおいても,握手によって,物理的な接触をする事で,親しみやすい印象を与える効果が得られ,よりよい関係を構築する要因の1つに
	なる可能性がある.人とロボットが握手を行う先行研究では,神経振動子を用いて人が腕を振るリズムに同期してロボットが腕を振る方法が提案されている[3].また,遠隔地間において人と人とが擬似的に握手を行う研究では,フォースフィードバックによって腕振りを相手に伝えている[2].これらの研究は,腕振りを再現するものであり,ロボットの側からしっかりと人の手を「握る」ことができるロボットハンドはほとんど研究されていない.そこで,本研究では,人と人とが行う握手と同様に,しっかりとロボット側も手を握る事で,握手を再現する事ができるロボットハンドを開発する.},
  day = {3-5},
  eabstract = {It is known that "handshakes" between humans give a sense of intimacy.
	Similarly, in human-robot interaction, there is a possibility that
	handshakes will be able to construct good relationships between humans
	and robots. Since the results of our past preliminary experiment
	showed that lacks of a strong grip, warmth, and softness prevent
	conventional robot hands from imitating human handshakes, we contrived
	a new kind of robot hand, that is tailored to handshakes.},
  etitle = {Development of a Robot Hand Reproducing the Feeling of Shaking Hands},
  file = {和田侑也2011.pdf:和田侑也2011.pdf:PDF},
  pdf = {http://www.ii.is.kit.ac.jp/hai2011/proceedings/pdf/II-1B-4.pdf},
  url = {http://www.ii.is.kit.ac.jp/hai2011/proceedings/pdf/II-1B-4.pdf},
}
港隆史, 西尾修一, 小川浩平, 石黒浩, "携帯型遠隔操作アンドロイド「エルフォイド」の研究開発", 日本ロボット学会学術講演会, 東京, pp. RSJ2011AC3O2-4, September, 2011.
Abstract: 本研究では遠隔操作型アンドロイドを携帯電話サイズに小型化することにより,何時でも何処でも誰でも自身の存在を遠隔地に伝達することができる新たなコミュニケーションメディアの実現を目指し,最初のプロトタイプとして「エルフォイドP1」を開発した.エルフォイドは人間の見かけのミニマルデザインを採用することで,誰もがエルフォイドを通して存在感を伝えることができるようにデザインされている.通信手段として携帯電話機能を有しており,携帯電話と同様,時間と場所を選ばずコミュニケーションが可能である.また外装には,人間の皮膚のような柔らかい素材を用いており,その触感からも人間を連想させるようになっている.本報告では開発したエルフォイドのプロトタイプを紹介するとともに,携帯型遠隔操作アンドロイド実現に向けた研究課題について述べる.
BibTeX:
@Inproceedings{港隆史2011,
  author    = {港隆史 and 西尾修一 and 小川浩平 and 石黒浩},
  title     = {携帯型遠隔操作アンドロイド「エルフォイド」の研究開発},
  booktitle = {日本ロボット学会学術講演会},
  year      = {2011},
  pages     = {{RSJ2011AC}3O2-4},
  address   = {東京},
  month     = Sep,
  day       = {7-9},
  abstract  = {本研究では遠隔操作型アンドロイドを携帯電話サイズに小型化することにより,何時でも何処でも誰でも自身の存在を遠隔地に伝達することができる新たなコミュニケーションメディアの実現を目指し,最初のプロトタイプとして「エルフォイド{P}1」を開発した.エルフォイドは人間の見かけのミニマルデザインを採用することで,誰もがエルフォイドを通して存在感を伝えることができるようにデザインされている.通信手段として携帯電話機能を有しており,携帯電話と同様,時間と場所を選ばずコミュニケーションが可能である.また外装には,人間の皮膚のような柔らかい素材を用いており,その触感からも人間を連想させるようになっている.本報告では開発したエルフォイドのプロトタイプを紹介するとともに,携帯型遠隔操作アンドロイド実現に向けた研究課題について述べる.},
  file      = {港隆史2011.pdf:港隆史2011.pdf:PDF},
}
Carlos T. Ishi, Chaoran Liu, Hiroshi Ishiguro, Norihiro Hagita, "Tele-operating the lip motion of humanoid robots from the operator's voice", In 第29回日本ロボット学会学術講演会, 芝浦工業大学豊洲キャンパス, 東京, pp. C1J3-6, September, 2011.
BibTeX:
@Inproceedings{Ishi2011,
  author          = {Carlos T. Ishi and Chaoran Liu and Hiroshi Ishiguro and Norihiro Hagita},
  title           = {Tele-operating the lip motion of humanoid robots from the operator's voice},
  booktitle       = {第29回日本ロボット学会学術講演会},
  year            = {2011},
  pages           = {C1J3-6},
  address         = {芝浦工業大学豊洲キャンパス, 東京},
  month           = Sep,
  day             = {7-9},
  file            = {Ishi2011.pdf:pdf/Ishi2011.pdf:PDF},
}
山本健太, 尾上聡, 田中一晶, 中西英之, "「動き」と「外見」どちらの伝達が重要か:アバタがビデオを代替する可能性", 情報処理学会研究報告, vol. 2011-HCI-144, no. 11, 富山, pp. 1-7, July, 2011.
BibTeX:
@INPROCEEDINGS{山本健太2011,
  author = {山本健太 and 尾上聡 and 田中一晶 and 中西英之},
  title = {「動き」と「外見」どちらの伝達が重要か:アバタがビデオを代替する可能性},
  booktitle = {情報処理学会研究報告},
  year = {2011},
  volume = {2011-HCI-144},
  number = {11},
  pages = {1--7},
  address = {富山},
  month = Jul,
  day = {28-29},
}
劉超然, 石井カルロス寿憲, 石黒浩, "人とロボットの対話インタラクションにおける頭部動作効果の考察", 人工知能学会全国大会, 岩手県(盛岡市), pp. 3B1-OS22c-5, June, 2011.
Abstract: this paper proposes a model for generating head tilting and nodding based on rules inferred from analyzing the relationship between head motion and dialogue acts, and evaluates the model using two types of humanoid robot (one very human-like android, ``Geminoid F'', and one typical humanoid robot, ``Robovie R2''). Subjective scores show that the proposed model including head tilting and nodding can generate head motion with increased naturalness compared to nodding only or directly mapping people's original motions. We also find that an upwards motion of a robot's face can be used by robots which do not have a mouth in order to provide the appearance that utterance is taking place.
BibTeX:
@Inproceedings{劉超然2011,
  author          = {劉超然 and 石井カルロス寿憲 and 石黒浩},
  title           = {人とロボットの対話インタラクションにおける頭部動作効果の考察},
  booktitle       = {人工知能学会全国大会},
  year            = {2011},
  pages           = {3B1-OS22c-5},
  address         = {岩手県(盛岡市)},
  month           = Jun,
  day             = {1-3},
  url             = {https://kaigi.org/jsai/webprogram/2011/pdf/421.pdf},
  etitle          = {Effects of Head Motion during Human-Robot Conversation Interaction},
  abstract        = {this paper proposes a model for generating head tilting and nodding based on rules inferred from analyzing the relationship between head motion and dialogue acts, and evaluates the model using two types of humanoid robot (one very human-like android, ``Geminoid F'', and one typical humanoid robot, ``Robovie R2''). Subjective scores show that the proposed model including head tilting and nodding can generate head motion with increased naturalness compared to nodding only or directly mapping people's original motions. We also find that an upwards motion of a robot's face can be used by robots which do not have a mouth in order to provide the appearance that utterance is taking place.},
  eabstract       = {this paper proposes a model for generating head tilting and nodding based on rules inferred from analyzing the relationship between head motion and dialogue acts, and evaluates the model using two types of humanoid robot (one very human-like android, ``Geminoid F'', and one typical humanoid robot, ``Robovie R2''). Subjective scores show that the proposed model including head tilting and nodding can generate head motion with increased naturalness compared to nodding only or directly mapping people's original motions. We also find that an upwards motion of a robot's face can be used by robots which do not have a mouth in order to provide the appearance that utterance is taking place.},
  file            = {劉超然2011.pdf:劉超然2011.pdf:PDF},
  organization    = {人工知能学会},
}
山崎竜二, 西尾修一, 小川浩平, 石黒浩, 幸田健介, 松村耕平, 藤波努, 寺井紀裕, "遠隔操作ロボットの福祉教育への適用", 人工知能学会全国大会, 岩手県(盛岡市), pp. 1A2-NFC1b-10, June, 2011.
Abstract: The old sense of community among Japanese has been weakening and the social isolation of elderly people is becoming a major issue in the acceleration of demographic aging. For facilitating the intergenerational communica- tion as a welfare education, we started our research project to immerse a teleoperated humanoid robot, Telenoid, in an elementary school and to see the reaction of children. Also, we conducted a telenoid testing for the elderly with dementia to see their reaction. We discuss how the robot can be accepted in the intergenerational communication for creating a children-centric community for dementia care that is based on our embodiment as human beings.
BibTeX:
@Inproceedings{山崎竜二2011,
  author          = {山崎竜二 and 西尾修一 and 小川浩平 and 石黒浩 and 幸田健介 and 松村耕平 and 藤波努 and 寺井紀裕},
  title           = {遠隔操作ロボットの福祉教育への適用},
  booktitle       = {人工知能学会全国大会},
  year            = {2011},
  pages           = {1A2-NFC1b-10},
  address         = {岩手県(盛岡市)},
  month           = Jun,
  day             = {1-3},
  url             = {https://kaigi.org/jsai/webprogram/2011/pdf/412.pdf},
  etitle          = {The Application of a Teleoperated Robot to the Welfare Education in an Elementary School},
  abstract        = {The old sense of community among Japanese has been weakening and the social isolation of elderly people is becoming a major issue in the acceleration of demographic aging. For facilitating the intergenerational communica- tion as a welfare education, we started our research project to immerse a teleoperated humanoid robot, Telenoid, in an elementary school and to see the reaction of children. Also, we conducted a telenoid testing for the elderly with dementia to see their reaction. We discuss how the robot can be accepted in the intergenerational communication for creating a children-centric community for dementia care that is based on our embodiment as human beings.},
  eabstract       = {The old sense of community among Japanese has been weakening and the social isolation of elderly people is becoming a major issue in the acceleration of demographic aging. For facilitating the intergenerational communica- tion as a welfare education, we started our research project to immerse a teleoperated humanoid robot, Telenoid, in an elementary school and to see the reaction of children. Also, we conducted a telenoid testing for the elderly with dementia to see their reaction. We discuss how the robot can be accepted in the intergenerational communication for creating a children-centric community for dementia care that is based on our embodiment as human beings.},
  file            = {山崎竜二2011a.pdf:山崎竜二2011a.pdf:PDF},
  organization    = {人工知能学会},
}
Panikos Heracleous, Norihiro Hagita, "A visual mode for communication in the deaf society", In Spring Meeting of Acoustical Society of Japan, Waseda University, Tokyo, Japan, pp. 57-60, March, 2011.
Abstract: In this article, automatic recognition of Cued Speech in French based on hidden Markov models (HMMs) is presented. Cued Speech is a visual mode, which uses hand shapes in different positions and in combination with lip-patterns of speech makes all the sounds of spoken language clearly understandable to deaf and hearing-impaired people. The aim of Cued Speech is to overcome the problems of lip-reading and thus enable deaf children and adults to understand full spoken language. In this study, lip shape component is fused with hand component using multi-stream HMM decision fusion to realize Cued Speech recognition, and continuous phoneme recognition experiments using data from a normal-hearing and a deaf cuer were conducted. In the case of the normal-hearing cuer, the obtained phoneme correct was 87.3%, and in the case of the deaf cuer 84.3%. The current study also includes the description of Cued Speech in Japanese.
BibTeX:
@Inproceedings{Heracleous2011d,
  author          = {Panikos Heracleous and Norihiro Hagita},
  title           = {A visual mode for communication in the deaf society},
  booktitle       = {Spring Meeting of Acoustical Society of Japan},
  year            = {2011},
  series          = {2-5-6},
  pages           = {57--60},
  address         = {Waseda University, Tokyo, Japan},
  month           = Mar,
  abstract        = {In this article, automatic recognition of Cued Speech in French based on hidden Markov models ({HMM}s) is presented. Cued Speech is a visual mode, which uses hand shapes in different positions and in combination with lip-patterns of speech makes all the sounds of spoken language clearly understandable to deaf and hearing-impaired people. The aim of Cued Speech is to overcome the problems of lip-reading and thus enable deaf children and adults to understand full spoken language. In this study, lip shape component is fused with hand component using multi-stream HMM decision fusion to realize Cued Speech recognition, and continuous phoneme recognition experiments using data from a normal-hearing and a deaf cuer were conducted. In the case of the normal-hearing cuer, the obtained phoneme correct was 87.3%, and in the case of the deaf cuer 84.3%. The current study also includes the description of Cued Speech in Japanese.},
  file            = {Heracleous2011d.pdf:Heracleous2011d.pdf:PDF},
}
岡本恵里奈, 西尾修一, 石黒浩, "遠隔操作型アンドロイドによる存在感の伝達に必須な要素の検証", ヒューマンインタフェース学会研究会, vol. 12, no. 10, Nara, Japan, pp. 13-20, November, 2010.
Abstract: 対面して会話をする際,人は外見や声,動き,話の内容など,さまざまな要素を伝達しているが,これまで,それらの要素を個別に操作する(人の外見のみを変える,動作のみを別の人のものにする,といった実験をする)ことはできなかった。しかし,ジェミノイド(人間をモデルに開発されたロボット)という,いわば心身の分離を実現できる新しい遠隔コミュニケーションツールを用いることで,この検証がある程度可能になった。そこで,本稿では,ジェミノイドを拡張し,外見と声を操作者本人とは異なる人のそれに置き換え,本人らしさがどの程度伝達しうるのか,外見や声が対人認知にどのような影響を及ぼしているのかを,4人の被験者のジェミノイドを介したコミュニケーション実験によって検証した。その結果,対話相手の個性が認識できたのは37.0%で,「友人同士の場合の方が正解率が高い」という仮説に反して,友人が含まれる場合はさらに低くなること明らかになった。
BibTeX:
@Inproceedings{岡本恵里奈2010,
  author          = {岡本恵里奈 and 西尾修一 and 石黒浩},
  title           = {遠隔操作型アンドロイドによる存在感の伝達に必須な要素の検証},
  booktitle       = {ヒューマンインタフェース学会研究会},
  year            = {2010},
  volume          = {12},
  number          = {10},
  pages           = {13--20},
  address         = {Nara, Japan},
  month           = Nov,
  abstract        = {対面して会話をする際,人は外見や声,動き,話の内容など,さまざまな要素を伝達しているが,これまで,それらの要素を個別に操作する(人の外見のみを変える,動作のみを別の人のものにする,といった実験をする)ことはできなかった。しかし,ジェミノイド(人間をモデルに開発されたロボット)という,いわば心身の分離を実現できる新しい遠隔コミュニケーションツールを用いることで,この検証がある程度可能になった。そこで,本稿では,ジェミノイドを拡張し,外見と声を操作者本人とは異なる人のそれに置き換え,本人らしさがどの程度伝達しうるのか,外見や声が対人認知にどのような影響を及ぼしているのかを,4人の被験者のジェミノイドを介したコミュニケーション実験によって検証した。その結果,対話相手の個性が認識できたのは37.0%で,「友人同士の場合の方が正解率が高い」という仮説に反して,友人が含まれる場合はさらに低くなること明らかになった。},
  file            = {岡本恵里奈2010.pdf:岡本恵里奈2010.pdf:PDF},
}

Contact: hil-contact@atr.jp