Kansei Analysis for Ubiquitous Robots InteraKansei Analysis for Ubiquitous Robots Interacting with People in Dynamic Environments cting with People in Dynamic Environments

ContentsContents IntroductionIntroduction Human BehaviorHuman Behavior Personal SpacePersonal Space New systemNew system Future aspectsFuture aspects ConstructionConstruction SummarySummary

IntroductionMobile robots, Autonomous robots, Android r

obots

Humanoid Robots (Human LIKE robot???)

Features:

• Interaction with Humans

• Imitate human actions

Requirements

• Human like appearance

• Human like behavior

• Human like feelings

Moving Around People

• Moving around

• Interactions with humans

• Form in queues

Queuing

• Forming a line of people

What to Consider

Dos and Don`ts

Line Modeling

??Too close

Too away

Perfect Line

• Appropriate Spacing

Nakauchi Model

• Nakauchi Model of a Human

Personal Space

• Nakauchi Model of personal space when people are forming a line

Forming Line

• Nakauchi Model of line of people

Simplified Version

HumanFront Side

Personal Space Generalized Circular Shape

80 cm 20 cm

30 cm

•Average distances with reference to generalized

circular diameter of a human

Generalization

• Considered as a percentage of 177.8% in front, 44.4% behind and 66.7% in sides as the following proportion yields.

(a_dist. / g.c.d.) X 100%

Application

TargetObstacle

Tracker Personal Space

Other Factors

• Shape

• Size

• Colour

• SoundOhh!

Relationships• Size and Distance

– Distance = K1 + K2 Size

• Shape and Distance– Distance = K3 + K4 Shape

Size / Shape

Distance

Moving Around• Safe distance (sd) and

• Personal distance (pd) (personal space)

Obstacle

HumanB

HumanA

sdgcd

2gcdRobot R

T =0

pd

Robot RT = t

Show Feelings

• Eyes and Mouth

Happy Unhappy

Blue / Green Yellow / Red

Distance

Distance Change

Feelings

MouthIndication

Eye Colour

Happy Unhappy

Experimental Setup

Measure for Personal Space

0 2 4 6 8 10 12 14 16 18 2040

60

80

100

120

140

160

Number of subjects

Dis

tanc

e to

the

robo

t [cm

]

Average distance

Indication of Feelings

Face Fine

Happy Sad

Fuzzy System

Fuzzyinference system

Fuzzyinference system

DistanceDistance

Rate of changeRate of changeFeelingFeeling

One Output

1

2

3

4

5

6

7

0 1 -1 1

0 1

Distance= 0.372

Rate of Change= 0.136

Feeling= 0.454

Some Considerations

• Making voice messages

• Object identification and response

Shuu...

Wow

Human interaction

• Recognition of– Voice– Gesture

Human Robot

Summary• Social rules• Human feelings identification

– Personal space

• Show some feelings– Eye colour– Mouth shape

• More analysis into personal space– Shape– Colour

• Using voice• Identify gestures• More friendly human interaction

In the future: