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Kristoffersson, AnnicaORCID iD iconorcid.org/0000-0002-4368-4751
Publications (6 of 6) Show all publications
Pathi, S. K., Kiselev, A., Kristoffersson, A., Repsilber, D. & Loutfi, A. (2019). A Novel Method for Estimating Distances from a Robot to Humans Using Egocentric RGB Camera. Sensors, 19(14), Article ID E3142.
Open this publication in new window or tab >>A Novel Method for Estimating Distances from a Robot to Humans Using Egocentric RGB Camera
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2019 (English)In: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 19, no 14, article id E3142Article in journal (Refereed) Published
Abstract [en]

Estimating distances between people and robots plays a crucial role in understanding social Human-Robot Interaction (HRI) from an egocentric view. It is a key step if robots should engage in social interactions, and to collaborate with people as part of human-robot teams. For distance estimation between a person and a robot, different sensors can be employed, and the number of challenges to be addressed by the distance estimation methods rise with the simplicity of the technology of a sensor. In the case of estimating distances using individual images from a single camera in a egocentric position, it is often required that individuals in the scene are facing the camera, do not occlude each other, and are fairly visible so specific facial or body features can be identified. In this paper, we propose a novel method for estimating distances between a robot and people using single images from a single egocentric camera. The method is based on previously proven 2D pose estimation, which allows partial occlusions, cluttered background, and relatively low resolution. The method estimates distance with respect to the camera based on the Euclidean distance between ear and torso of people in the image plane. Ear and torso characteristic points has been selected based on their relatively high visibility regardless of a person orientation and a certain degree of uniformity with regard to the age and gender. Experimental validation demonstrates effectiveness of the proposed method.

Keywords
Human–Robot Interaction, distance estimation, single RGB image, social interaction
National Category
Medical Engineering
Research subject
Electronics
Identifiers
urn:nbn:se:mdh:diva-44958 (URN)10.3390/s19143142 (DOI)000479160300109 ()31319523 (PubMedID)2-s2.0-85070083052 (Scopus ID)
Available from: 2019-08-06 Created: 2019-08-06 Last updated: 2019-10-11Bibliographically approved
Lindén, M., Kristoffersson, A. & Björkman, M. (2019). Embedded Sensor Systems for Health Plus (ESS-H+) An overview of scientific areas and interdisciplinary target. In: Abstractbok: . Paper presented at Medicinteknikdagarna 2019 (pp. 17-17).
Open this publication in new window or tab >>Embedded Sensor Systems for Health Plus (ESS-H+) An overview of scientific areas and interdisciplinary target
2019 (English)In: Abstractbok, 2019, p. 17-17Conference paper, Oral presentation with published abstract (Refereed)
Abstract [sv]

ESS-H+ will continue the work in the KKS research profile Embedded Sensor Systems for Health (ESS-H) at Mälardalen University. ESS-H has during six years provided important collaboration between researchers, industrial partners and healthcare organizations within three focus areas (Health monitoring at home, Health monitoring at work, and Infrastructure and communication).

The focus of the new research profile ESS-H+ is that monitoring of humans should be able to be performed anytime, anywhere. Our research challenges are focused to the areas of Reliable acquisition and management of physiological data, and Reliable distributed data analysis. Reliable acquisition and management of physiological data is a fundamental prerequisite for advancing anytime, anywhere health monitoring, towards enabling remote monitoring of more serious health conditions than what is safely possible today. Reliable distributed data analysis is a fundamental prerequisite for enabling large-scale deployment of anytime, anywhere health monitoring. Both research challenges are complex and require multi-disciplinary research.

The following important research goals will be addressed within ESS-H+: 

  • Reliable data acquisition, and design of suitable sensor systems for achieving this. 
  • Development of analysis and classification algorithms for physiological parameters. 
  • Achieve efficient distributed data fusion and decision support. 
  • Better utilization of the compute power of sensor nodes, and increased communication reliability: safety as well as security. 
  • Efficient integration of scientific results, from different scientific areas, to an efficient and user-friendly embedded sensor system. 

The research in ESS-H+ will include research within the scientific areas (Biomedical sensor technology, Biomedical signal processing, Intelligent decision support, and Reliable and secure data communication) but also a strong integration between these areas, our collaborating companies, and the end users. Our main challenge within ESS-H+ will be this interdisciplinary integration that aims towards fully operating systems, thud providing efficient integration of scientific results, from different scientific areas, to an efficient and user-friendly embedded sensor system.

National Category
Medical Engineering
Research subject
Electronics
Identifiers
urn:nbn:se:mdh:diva-45435 (URN)
Conference
Medicinteknikdagarna 2019
Funder
Knowledge Foundation
Available from: 2019-10-07 Created: 2019-10-07 Last updated: 2019-10-11Bibliographically approved
Akalin, N., Kristoffersson, A. & Loutfi, A. (2019). Evaluating the Sense of Safety and Security in Human–Robot Interaction with Older People. In: Oliver Korn (Ed.), Social Robots: Technological, Societal and Ethical Aspects of Human-Robot Interaction: (pp. 237-264). Springer, Cham
Open this publication in new window or tab >>Evaluating the Sense of Safety and Security in Human–Robot Interaction with Older People
2019 (Swedish)In: Social Robots: Technological, Societal and Ethical Aspects of Human-Robot Interaction / [ed] Oliver Korn, Springer, Cham , 2019, p. 237-264Chapter in book (Refereed)
Abstract [en]

For many applications where interaction between robots and older people takes place, safety and security are key dimensions to consider. ‘Safety’ refers to a perceived threat of physical harm, whereas ‘security’ is a broad term which refers to many aspects related to health, well-being, and aging. This chapter presents a quantitative evaluation tool of the sense of safety and security for robots in elder care. By investigating the literature on measurement of safety and security in human–robot interaction, we propose new evaluation tools specially tailored to assess interaction between robots and older people.

Place, publisher, year, edition, pages
Springer, Cham, 2019
Series
Human–Computer Interaction Series
Keywords
Sense of safety and security, Quantitative evaluation tool, Social robots, Elder care
National Category
Medical Engineering
Research subject
Electronics
Identifiers
urn:nbn:se:mdh:diva-44960 (URN)10.1007/978-3-030-17107-0_12 (DOI)978-3-030-17106-3 (ISBN)978-3-030-17107-0 (ISBN)
Funder
EU, Horizon 2020, 721619
Available from: 2019-08-06 Created: 2019-08-06 Last updated: 2019-10-01Bibliographically approved
Pathi, S. K., Kristoffersson, A., Kiselev, A. & Loutfi, A. (2019). F-Formations for Social Interaction in Simulation Using Virtual Agents and Mobile Robotic Telepresence Systems. Multimodal Technologies and Interaction, 3(4), Article ID 69.
Open this publication in new window or tab >>F-Formations for Social Interaction in Simulation Using Virtual Agents and Mobile Robotic Telepresence Systems
2019 (English)In: Multimodal Technologies and Interaction, ISSN 2414-4088, Vol. 3, no 4, article id 69Article in journal (Refereed) Published
Abstract [en]

F-formations are a set of possible patterns in which groups of people tend to spatially organize themselves while engaging in social interactions. In this paper, we study the behavior of teleoperators of mobile robotic telepresence systems to determine whether they adhere to spatial formations when navigating to groups. This work uses a simulated environment in which teleoperators are requested to navigate to different groups of virtual agents. The simulated environment represents a conference lobby scenario where multiple groups of Virtual Agents with varying group sizes are placed in different spatial formations. The task requires teleoperators to navigate a robot to join each group using an egocentric-perspective camera. In a second phase, teleoperators are allowed to evaluate their own performance by reviewing how they navigated the robot from an exocentric perspective. The two important outcomes from this study are, firstly, teleoperators inherently respect F-formations even when operating a mobile robotic telepresence system. Secondly, teleoperators prefer additional support in order to correctly navigate the robot into a preferred position that adheres to F-formations.

Keywords
telepresence; mobile robotic telepresence; F-formations; simulation; virtual agents; HRI
National Category
Medical Engineering Computer Sciences
Research subject
Biotechnology/Chemical Engineering
Identifiers
urn:nbn:se:mdh:diva-45907 (URN)10.3390/mti3040069 (DOI)
Available from: 2019-11-05 Created: 2019-11-05 Last updated: 2019-11-07Bibliographically approved
Kristoffersson, A., Kolkowska, E. & Loutfi, A. (2019). Summative evaluation of a sensor-based cognitive assistive technology: Impact on quality of life and perceived utility. Gerontechnology, 18(2), 59-69
Open this publication in new window or tab >>Summative evaluation of a sensor-based cognitive assistive technology: Impact on quality of life and perceived utility
2019 (English)In: Gerontechnology, ISSN 1569-1101, E-ISSN 1569-111X, Vol. 18, no 2, p. 59-69Article in journal (Refereed) Published
Abstract [en]

Background Current research shows that perceived improvement of quality of life (QoL) is among the most important factors influencing acceptance of technology by older adults. Research Aim/question(s) The purpose of this study was to assess the utility of a sensor-based cognitive assistive technology (CAT) deployed in real homes and its impact on older adults’ and their informal caregivers’ perceived QoL. Methods During a period of five months, we conducted a summative evaluation by deploying a CAT in the home of couples in which one of the partners had a self-perceived memory decline. We applied a mixed method approach. Quantitative and qualitative data was collected via subjective forms, observations and 28 interviews conducted prior to the deployment, when the CAT was deployed and one month after the CAT removal. Results The study showed that the CAT had a psychosocial impact on older adults with a self-perceived memory decline and their informal caregivers but no impact on subjective forms measuring physiological and mental health, anxiety, depression or QoL. Additionally, we found that the CAT lacked a number of functionalities and that the test persons experienced several problems of different nature when using it in their homes. This affected the users’ experienced impact of the CAT. Conclusions This study contributes to the literature on sensor networks’ impact on QoL. While previous studies often use general forms intended to assess QoL, this summative evaluation indicates that using such instruments without considering contextual factors is not meaningful. The study also outlines a number of factors that sensor network providers might consider in order to increase their products impact on QoL and their perceived utility.

Keywords
summative evaluation, sensor networks, cognitive decline, quality of life, utility
National Category
Medical Engineering
Research subject
Electronics
Identifiers
urn:nbn:se:mdh:diva-44959 (URN)10.4017/gt.2019.18.2.001.00 (DOI)2-s2.0-85074488959 (Scopus ID)
Funder
Länsförsäkringar AB
Available from: 2019-08-06 Created: 2019-08-06 Last updated: 2019-11-14Bibliographically approved
Akalin, N., Kristoffersson, A. & Loutfi, A. (2019). The Influence of Feedback Type in Robot-Assisted Training. Multimodal Technologies and Interaction, 4(3), Article ID 67.
Open this publication in new window or tab >>The Influence of Feedback Type in Robot-Assisted Training
2019 (English)In: Multimodal Technologies and Interaction, ISSN 2414-4088, Vol. 4, no 3, article id 67Article in journal (Refereed) Published
Abstract [en]

Robot-assisted training, where social robots can be used as motivational coaches, provides an interesting application area. This paper examines how feedback given by a robot agent influences the various facets of participant experience in robot-assisted training. Specifically, we investigated the effects of feedback type on robot acceptance, sense of safety and security, attitude towards robots and task performance. In the experiment, 23 older participants performed basic arm exercises with a social robot as a guide and received feedback. Different feedback conditions were administered, such as flattering, positive and negative feedback. Our results suggest that the robot with flattering and positive feedback was appreciated by older people in general, even if the feedback did not necessarily correspond to objective measures such as performance. Participants in these groups felt better about the interaction and the robot.

Keywords
feedback; acceptance; flattering robot; sense of safety and security; robot-assisted training
National Category
Medical Engineering Computer Sciences
Research subject
Biotechnology/Chemical Engineering
Identifiers
urn:nbn:se:mdh:diva-45908 (URN)10.3390/mti3040067 (DOI)
Projects
SOCRATES - Marie Skłodowska-Curie grant agreement No 721619
Available from: 2019-11-05 Created: 2019-11-05 Last updated: 2019-11-07Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-4368-4751

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