Hiroyasu Miwa

Effective emotional expressions with expression humanoid robot WE-4RII: integration of humanoid robot hand RCH-1

The authors have been developing humanoid robots in order to develop new mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotion. We considered that human hands play an important role in communication because human hands have grasping, sensing and emotional expression abilities. Then, we developed the emotion expression humanoid robot WE-4RII (Waseda Eye No.4 Refined II) by integrating the new humanoid robot hands RCH-1 (RoboCasa Hand No.1) into the emotion expression humanoid robot WE-4R. Furthermore, we confirmed that RCH-1 and WE-4RII had effective emotional expression ability because the correct recognition rate of WE-4RIIs emotional expressions was higher than the WE-4Rs one. In this paper, we describe the mechanical features of WE-4RII.

Development of a new human-like head robot WE-4

The authors have been developing human-like head robots in order to develop new head mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotion. We were able to simulate four sensations (the visual, auditory, cutaneous and olfactory sensations) of a human five senses by developing WE-3 (W_aseda E_ye No.3_) series since 1995. However, the robot system of WE-3 has become too complex and big from added improvements. Therefore, in 2002, we developed a new human-like head robot WE-4 (W_aseda E_ye No. 4_). We newly added a waist to WE-4, and realized emotional expression with not only the face, but also the upper-half part of the robot body. Also, WE-4 is smaller and lighter from revisions in mechanisms of the robot head In this paper we describe the mechanical features of the human-like head robot WE-4.

Robot personality based on the equations of emotion defined in the 3D mental space

The authors deal with human-like head robots in order to develop new head mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotion. When humans communicate through auditory or visual sensations, they estimate their mental state through not only the information of each sensation but also their mental model. A robots mental model consists of a 3D mental space having a pleasantness, and activation and a certainty axes. When the robot senses the stimulus, a mental vector moves in this mental space based on the equations of emotion. We also propose a robot personality which consists of sensing personality and expression personality. Further, we assign and load various sensing personalities.

Behavior model of humanoid robots based on operant conditioning

Personal robots, which are expected to become popular in the near future, are required to be active in work and community life alongside humans. Therefore, we have been developing new mechanisms and functions in order to realize natural bilateral interaction by expressing emotions, behaviors and personality in a human-like manner. We have proposed a mental model with emotion, mood, personality and needs. However, the robot behavior was very simple since the robot shows just a single kind of behavior in response to a robot mental state. In this paper, we present a new behavior model for humanoid robots based on operant conditioning, which is a well-known psychological behavior model. We implemented this new behavior model into the emotion expression humanoid robot WE-4RII (Waseda Eye No.4 Refined II), developed in 2004. Through the experimental evaluations, we confirmed that the robot with the new behavior model could autonomously select suitable behavior for the situation within a predefined behavior list

Various emotional expressions with emotion expression humanoid robot WE-4RII

The authors have been developing humanoid robots in order to develop new mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotion. In 2004, we developed the emotion expression humanoid robot WE-4RII (Waseda Eye No.4 Refined II) by integrating the new humanoid robot hands RCH-I (RoboCasa Hand No.1) into the emotion expression humanoid robot WE-4R. We confirmed that WE-4RII can effectively express its emotion.

Roll-over Detection and Sleep Quality Measurement using a Wearable Sensor

Mental health management in the workplace has attracted increasing attention in recent years. As sleep is an essential physiological function that is strongly related to mental condition, easy and daily sleep management is considered essential for maintaining good mental health. In this paper, we detected roll-over movements during sleep using a wearable armband-shaped sensor, SenseWear Pro2 Armband. We then classified sleep depth into two stages, light sleep and deep sleep, based on roll-over frequency. We also propose a new index designated the Sleep Quality Score (SQS). Finally, we performed long-term measurement and compared SQS in healthy people and patients with major depression disorder.

Experimental study on robot personality for humanoid head robot

The authors have been developing human-like head robots in order to develop new head mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotions. We think that the personality of the robot is extremely important in attaining smooth and effective communication. We introduced a robot personality that consists of the sensing personality and the expression personality. The sensing personality determines how a stimulus works for a robots mental state. A 3D mental space was defined in the robot. Seven emotions were mapped out in the 3D mental space. After the robot determines its emotion, it expresses its emotion by the expression personality. We expressed the expression personality using a matrix. Moreover, we assigned and loaded six robot personalities into the robot. The robot can express various personalities.

Development of a Bioinstrumentation System in the Interaction between a Human and a Robot

Personal robots, which are expected to become popular in the future, are required to be active in joint work and community life with humans. Such robots must have no bad physical or psychical effect on humans. The psychical effect of a robot on humans has been subjectively measured using questionnaires. However, it has not been objectively measured yet. Human emotion and the consciousness direction can be measured by physiological parameters and body motion, respectively. Therefore, the bioinstrumentation system WB-1 was developed in order to objectively measure the psychical effect of a robot on a human. It can measure physiological parameters such as respiration, heart rate, perspiration and pulse wave, and arm motion. Analyzing human stress in the interaction with a robot from electrocardiogram, the robot could generate a motion for decreasing the stress

Design and development of five-fingered hands for a humanoid emotion expression robot

Among social infrastructure technologies, Robot Technology (RT) is expected to play an important role in solving the problems of the aging society. New generations of personal robots are expected to be capable of assisting humans in a variety of contexts and thus of interacting and communicating with them effectively and even in a friendly and natural way. Expressing human-like emotions is an important capability to this aim. The objectives of this work are the design and development of two five-fingered robotic hands for a humanoid upper body able to generate and express emotions. The specific design goals have been grasping and expression of emotions through hand gestures, as a complement to facial expression of emotions. The paper presents the design process of the robotic hands, named RCH-1 (Robocasa Hand No. 1), starting from the requirements deriving from their use in grasping and gestures. The resulting robotic hands are described in detail, together with the hand sensory systems. Experimental trials are then presented, aimed at assessing the hand performance and at validating their effectiveness in grasping and emotion expression, when mounted on the emotion expression humanoid robot WE-4R (Waseda Eye No. 4 Refined).

Design and control of 9-DOFs emotion expression humanoid arm

The authors have been developing humanoid robots in order to develop new mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotion. We considered that human arms play an important role. And, in 2003, we developed the 9-DOFs emotion expression humanoid arm. Then, we developed the emotion expression humanoid robot WE-4R (Waseda Eye No.4 Refined) by integrating the new arms into the human-like head robot WE-4. Moreover, we introduced the new control algorithm for robot arm with redundant DOF into WE-4R. The new control algorithm was described by the junction of geometric constraint and robot emotion. We describe the mechanical design and the control algorithm of 9-DOFs emotion expression humanoid arm.