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  • 1.
    Akalin, Neziha
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kiselev, Andrey
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kristoffersson, Annica
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    An Evaluation Tool of the Effect of Robots in Eldercare on the Sense of Safety and Security2017In: Social Robotics: 9th International Conference, ICSR 2017, Tsukuba, Japan, November 22-24, 2017, Proceedings / [ed] Kheddar, A.; Yoshida, E.; Ge, S.S.; Suzuki, K.; Cabibihan, J-J:, Eyssel, F:, He, H., Springer International Publishing , 2017, p. 628-637Conference paper (Refereed)
    Abstract [en]

    The aim of the study presented in this paper is to develop a quantitative evaluation tool of the sense of safety and security for robots in eldercare. By investigating the literature on measurement of safety and security in human-robot interaction, we propose new evaluation tools. These tools are semantic differential scale questionnaires. In experimental validation, we used the Pepper robot, programmed in the way to exhibit social behaviors, and constructed four experimental conditions varying the degree of the robot’s non-verbal behaviors from no gestures at all to full head and hand movements. The experimental results suggest that both questionnaires (for the sense of safety and the sense of security) have good internal consistency.

  • 2.
    Akalin, Neziha
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kiselev, Andrey
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kristoffersson, Annica
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Enhancing Social Human-Robot Interaction with Deep Reinforcement Learning.2018In: Proc. FAIM/ISCA Workshop on Artificial Intelligence for Multimodal Human Robot Interaction, 2018, MHRI , 2018, p. 48-50Conference paper (Refereed)
    Abstract [en]

    This research aims to develop an autonomous social robot for elderly individuals. The robot will learn from the interaction and change its behaviors in order to enhance the interaction and improve the user experience. For this purpose, we aim to use Deep Reinforcement Learning. The robot will observe the user’s verbal and nonverbal social cues by using its camera and microphone, the reward will be positive valence and engagement of the user.

  • 3.
    Akalin, Neziha
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kiselev, Andrey
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kristoffersson, Annica
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    The Relevance of Social Cues in Assistive Training with a Social Robot2018In: 10th International Conference on Social Robotics, ICSR 2018, Proceedings / [ed] Ge, S.S., Cabibihan, J.-J., Salichs, M.A., Broadbent, E., He, H., Wagner, A., Castro-González, Á., Springer , 2018, p. 462-471Conference paper (Refereed)
    Abstract [en]

    This paper examines whether social cues, such as facial expressions, can be used to adapt and tailor a robot-assisted training in order to maximize performance and comfort. Specifically, this paper serves as a basis in determining whether key facial signals, including emotions and facial actions, are common among participants during a physical and cognitive training scenario. In the experiment, participants performed basic arm exercises with a social robot as a guide. We extracted facial features from video recordings of participants and applied a recursive feature elimination algorithm to select a subset of discriminating facial features. These features are correlated with the performance of the user and the level of difficulty of the exercises. The long-term aim of this work, building upon the work presented here, is to develop an algorithm that can eventually be used in robot-assisted training to allow a robot to tailor a training program based on the physical capabilities as well as the social cues of the users.

  • 4.
    Kiselev, Andrey
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kristoffersson, Annica
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Combining Semi-autonomous Navigation with Manned Behaviour in a Cooperative Driving System for Mobile Robotic Telepresence2015In: COMPUTER VISION - ECCV 2014 WORKSHOPS, PT IV, Berlin: Springer Berlin/Heidelberg , 2015, p. 17-28Conference paper (Refereed)
    Abstract [en]

    This paper presents an image-based cooperative driving system for telepresence robot, which allows safe operation in indoor environments and is meant to minimize the burden on novice users operating the robot. The paper focuses on one emerging telepresence robot, namely, mobile remote presence systems for social interaction. Such systems brings new opportunities for applications in healthcare and elderly care by allowing caregivers to communicate with patients and elderly from remote locations. However, using such systems can be a difficult task particularly for caregivers without proper training. The paper presents a first implementation of a vision-based cooperative driving enhancement to a telepresence robot. A preliminary evaluation in the laboratory environment is presented.

  • 5.
    Kiselev, Andrey
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kristoffersson, Annica
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    The Effect of Field of View on Social Interaction in Mobile Robotic Telepresence Systems2014In: Proceedings of the 9th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2014), IEEE conference proceedings , 2014, p. 214-215Conference paper (Refereed)
    Abstract [en]

    One goal of mobile robotic telepresence for social interaction is to design robotic units that are easy to operate for novice users and promote good interaction between people. This paper presents an exploratory study on the effect of camera orientation and field of view on the interaction between a remote and local user. Our findings suggest that limiting the width of the field of view can lead to better interaction quality as it encourages remote users to orient the robot towards local users.

  • 6.
    Kiselev, Andrey
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kristoffersson, Annica
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Melendez, Francisco
    System Engineering and Automation Department, University of Malaga, Malaga, Spain.
    Galindo, Cipriano
    System Engineering and Automation Department, University of Malaga, Malaga, Spain.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Gonzalez-Jimenez, Javier
    System Engineering and Automation Department, University of Malaga, Malaga, Spain.
    Coradeschi, Silvia
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Evaluation of using semi-autonomy features in mobile robotic telepresence systems2015In: Proceedings of the 2015 7th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2015 and Robotics, Automation and Mechatronics, RAM 2015, New York, USA: IEEE conference proceedings , 2015, p. 147-152Conference paper (Refereed)
    Abstract [en]

    Mobile robotic telepresence systems used for social interaction scenarios require that users steer robots in a remote environment. As a consequence, a heavy workload can be put on users if they are unfamiliar with using robotic telepresence units. One way to lessen this workload is to automate certain operations performed during a telepresence session in order to assist remote drivers in navigating the robot in new environments. Such operations include autonomous robot localization and navigation to certain points in the home and automatic docking of the robot to the charging station. In this paper we describe the implementation of such autonomous features along with user evaluation study. The evaluation scenario is focused on the first experience on using the system by novice users. Importantly, that the scenario taken in this study assumed that participants have as little as possible prior information about the system. Four different use-cases were identified from the user behaviour analysis.

  • 7.
    Kiselev, Andrey
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Mosiello, Giovanni
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kristoffersson, Annica
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Semi-Autonomous Cooperative Driving for Mobile Robotic Telepresence Systems2014In: Proceedings of the 9th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2014), IEEE conference proceedings , 2014, p. 104-104Conference paper (Refereed)
    Abstract [en]

    Mobile robotic telepresence (MRP) has been introduced to allow communication from remote locations. Modern MRP systems offer rich capabilities for human-human interactions. However, simply driving a telepresence robot can become a burden especially for novice users, leaving no room for interaction at all. In this video we introduce a project which aims to incorporate advanced robotic algorithms into manned telepresence robots in a natural way to allow human-robot cooperation for safe driving. It also shows a very first implementation of cooperative driving based on extracting a safe drivable area in real time using the image stream received from the robot.

  • 8.
    Kiselev, Andrey
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Scherlund, Mårten
    Giraff Technologies AB, Västerås, Sweden.
    Kristoffersson, Annica
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Efremova, Natalia
    Plekhanom University, Moscow, Russia.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Auditory immersion with stereo sound in a mobile robotic telepresence system2015In: 10th ACM/IEEE International Conference on Human-Robot Interaction, 2015, Association for Computing Machinery (ACM) , 2015Conference paper (Refereed)
    Abstract [en]

    Auditory immersion plays a significant role in generating a good feeling of presence for users driving a telepresence robot. In this paper, one of the key characteristics of auditory immersion - sound source localization (SSL) - is studied from the perspective of those who operate telepresence robots from remote locations. A prototype which is capable of delivering soundscape to the user through Interaural Time Difference (ITD) and Interaural Level Difference (ILD) using the ORTF stereo recording technique was developed. The prototype was evaluated in an experiment and the results suggest that the developed method is sufficient for sound source localization tasks.

  • 9.
    Orlandini, Andrea
    et al.
    Consiglio NazionalInstitute of Cognitive Sciences and Technologies, Consiglio Nazionale delle Ricerche, Rome, Italy.
    Kristoffersson, Annica
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Almquist, Lena
    Örebro City Council, Örebro, Sweden.
    Björkman, Patrik
    Giraff Technologies, Västerås, Sweden.
    Cesta, Amedeo
    Institute of Cognitive Sciences and Technologies, Consiglio Nazionale delle Ricerche ,Rome, Italy.
    Cortellessa, Gabriella
    Institute of Cognitive Sciences and Technologies, Consiglio Nazionale delle Ricerche , Rome,Italy.
    Galindo, Cipriano
    University of Malaga, Malaga, Spain.
    Gonzalez-Jimenez, Javier
    University of Malaga, Malaga, Spain.
    Gustafsson, Kalle
    Giraff Technologies, Västerås, Sweden.
    Kiselev, Andrey
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Melendez, Francisco
    University of Malaga, Malaga, Spain.
    Nilsson, Malin
    Örebro City Council, Örebro, Sweden.
    Odens Hedman, Lasse
    Giraff Technologies, Västerås, Sweden.
    Odontidou, Eleni
    Giraff Technologies, Västerås, Sweden.
    Ruiz-Sarmiento, Jose-Raul
    University of Malaga, Malaga, Spain.
    Scherlund, Mårten
    Giraff Technologies, Västerås, Sweden.
    Tiberio, Lorenza
    Institute of Cognitive Sciences and Technologies, Consiglio Nazionale delle Ricerche , Rome, Italy.
    von Rump, Stephen
    Giraff Technologies, Västerås, Sweden.
    Coradeschi, Silvia
    Örebro University, Örebro, Sweden.
    ExCITE Project: A Review of Forty-Two Months of Robotic Telepresence Technology2016In: Presence - Teleoperators and Virtual Environments, ISSN 1054-7460, E-ISSN 1531-3263, Vol. 25, no 3, p. 204-221Article in journal (Refereed)
    Abstract [en]

    This article reports on the EU project ExCITE with specific focus on the technical development of the telepresence platform over a period of 42 months. The aim of the project was to assess the robustness and validity of the mobile robotic telepresence (MRP) system Giraff as a means to support elderly people and to foster their social interaction and participation. Embracing the idea of user-centered product refinement, the robot was tested over long periods of time in real homes. As such, the system development was driven by a strong involvement of elderly people and their caregivers but also by technical challenges associated with deploying the robot in real-world contexts. The results of the 42-months’ long evaluation is a system suitable for use in homes rather than a generic system suitable, for example, in office environments.

1 - 9 of 9
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