Jun-Hyeong Do

Robotic smart house to assist people with movement disabilities

This paper introduces a new robotic smart house, Intelligent Sweet Home, developed at KAIST in Korea, which is based on several robotic agents and aims at testing advanced concepts for independent living of the elderly and people with disabilities. The work focuses on technical solutions for human-friendly assistance in motion/mobility and advanced human-machine interfaces that provide simple control of all assistive robotic systems and home-installed appliances. The smart house concept includes an intelligent bed, intelligent wheelchair, and robotic hoist for effortless transfer of the user between bed and wheelchair. The design solutions comply with most of the users’ requirements and suggestions collected by a special questionnaire survey of people with disabilities. The smart house responds to the users commands as well as to the recognized intentions of the user. Various interfaces, based on hand gestures, voice, body movement, and posture, have been studied and tested. The paper describes the overall system structure and explains the design and functionality of some main system components.

Intention reading is essential in human-friendly interfaces for the elderly and the handicapped

Some major issues of human-friendly man-machine interaction/interfaces in an intelligent residential system are dealt with to cope with increasing needs of the elderly and the handicapped for a higher level of living conditions. Specifically, the existing systems in this area are first examined and the inadequacy of some current remote-control interfaces for the elderly/handicapped is pointed out. Then, some intention-reading techniques are introduced for the elderly and/or the physically handicapped, for easier and more convenient use of machines and engineering systems.

Advanced robotic residence for the elderly/the handicapped: realization and user evaluation

A novel advanced robotic residence, Intelligent Sweet Home (ISH), is developed at KAIST, Korea for testing advanced concepts for independent living of the elderly and the physically handicapped. The work focuses on human-friendly technical solutions for motion/mobility assistance, health monitoring, and advanced human-machine interfaces that provide easy control of both assistive devices and home-installed appliances. To improve the inhabitants comfort, an intelligent bed, intelligent wheelchair and mechatronic transfer robot were developed. And, various interfaces based on hand gestures and voice, and health monitoring system were studied. This paper emphasizes the realization scheme of Intelligent Sweet Home and user evaluation by a physically handicapped person.

Advanced Soft Remote Control System Using Hand Gesture

In this paper, we propose an Advanced Soft Remote Control System so as to endow the users with the ability to control various home appliances instead of individual remote controller for each appliance and to command naturally at various places without being conscious of the view direction of the cameras. Through the developed system, the user first selects the device that he/her wants to control by pointing it with his/her hand. Then, the user can command operation of the desired functions via 10 predefined basic hand motion commands. By the experiment, we can get 97.1% recognition rate during offline test and 96.5% recognition rate during online test. The developed system complements some inconveniences of conventional remote controllers specially by giving additional freedom to persons with movement deficits and people without disabilities.

Comparison between Diagnostic Results of the Sasang Constitutional Analysis Tool (SCAT) and a Sasang Constitution Expert

Abstract Comparison between Diagnostic Results of the Sasang Constitutional Analysis Tool (SCAT) and a Sasang Constitution Expert Jun-Hyeong Do, Ji-Ho Nam, Eun-Su Jang, Jun-Su Jang, Jang-Woong Kim, Young-Su Kim, Na-Hye Kim, Soon-Man Han * , Jong-Dug Kim * Korea Institute of Oriental Medicine, * Sa-dang Korean Medical ClinicObjectivesRecently, Sasang Constitutional Analysis Tool (SCAT) was developed using face, body shape, questionnaire, and voice information. The purpose of this paper is to analysis the characteristics of SCAT in detail for the subjects whose Sasang Constitutional (SC) type was confirmed clearly.Methods1) The SC types of 108 patients were diagnosed by an expert of Sasang constitutional medicine through the observation of improvements after taking more than 20 packs of herbal medicine prescribed2) The diagnostic results of SCAT were acquired for the patients.3) Comparison between diagnostic results of the SCAT and expert was performed according to SC probability difference, the number of packs of herbal medicine prescribed, the number of hospital visits, and age.Results1) The concordance rate was 65.9% and 59.4% in the male and female groups, respectively.2) Overall, the concordance rate increased as the SC probability difference increased. In case of more than 5% SC probability difference, it increased up to 71.0% and 66.7% in the male and female groups, respectively.3) The concordance rate did not show any trend as the number of packs of herbal medicine prescribed and the number of hospital visits increased.4) The higher concordance rate was observed in Taeeumin, Soyangin, and 20s ∼ 40s groups of male patients, and in Soyangin, 20s, and 40s groups of female patients.Conclusions The strong and weak points of SCAT were observed and they will contribute to the improvement of SCAT performance.Key Words: Sasang Constitutional Medicine, Sasang Constitutional Diagnosis, Sasang Constitutional Analysis Tool, Concordance Rate

Soft Computing Based Emotion/Intention Reading for Service Robot

Due to its tolerance to imprecision, uncertainty and partial truth, the soft computing technique deals well with human related signals such as voice, gesture, facial expression, bio-signal, etc. In this paper, we propose architecture of soft computing based recognition for a class of biosign. Especially, the problem of inferring emotion and intention reading from such recognition is considered with applications for service robots that interact with human. It is shown that proposed architecture renders good performance in a few experimental systems for rehabilitation.

Two-staged hand-posture recognition method for Softremocon system

This paper deals with a method to recognize hand-postures in Softremocon system. The system uses multiple cameras to recognize the users hand-posture. It is hard to recognize hand-posture since a human-hand is the object with high degree of freedom and there follows the self-occlusion problem, the well-known problem in vision-based recognition area. It can be a possible solution to use multiple cameras. However, when we use multiple images, another problem is arisen, that is, the composition methods of multiple recognition results from each camera to get the final decision. We show 2-staged recognition process. The first stage gets the results which represent each camera viewpoint. And the second one results out the final decision. This structure gives robustness to the hand-posture recognition against view-point variation.

View-invariant hand-posture recognition for soft-remocon-system

The hand-posture-based user interface has been considered as an alternative to human-computer interaction (HCI), or for human-robot interaction, but many difficulties remain to be resolved. For natural recognition of hand posture by a vision device, we find that view-point-in variance is one of the most required characteristics. This paper presents a hand-posture recognition method that is robust against various viewpoints. Observing that when the viewing direction is changed, the same appearance feature does not necessarily match the 3D structure, and vice versa, we propose a 2-layered hand-posture database structure in which the 2D appearance-based method and the 3D-based method are complementarity combined. We have tested the approach in an experiment for 15 different viewing directions.

The Web Application of Constitution Analysis System - SCAT (Sasang Constitution Analysis Tool) -

Abstract The Web Application of Constitution Analysis System - SCAT (Sasang Constitution Analysis Tool) - Ji-Ho So, Jang-Woong Kim, Ji-Ho Nam, Bum-Ju Lee, Young-Su Kim, Jong-Yeol Kim, Jun-Hyeong DoKorea Institute of Oriental MedicineObjectivesSCAT (Sasang Constitution Analysis Tool) is a system designed to provide the information needed to diagnose a sasang constitution diagnosis expert diagnosis. In order to determine the sasang constitution diagnosis requires the following four ways. This system provides objective information to the constitution diagnostic expert to collectsuch information.Methods SCAT was constructed by considering the user UI/UX to be easy to enter information. To provide a state of the subject in Table to make it easier to grasp the information of the subject also in constitution diagnostician. ResultsProvides objective data for experts to determine the constitutional history of the subject.ConclusionsProfessionals and ordinary users through the SCAT system can easily access the sasang constitution diagnosis. In the future through the advancement of the SCAT system will improve the users convenience stability.Key Words:

Human-friendly HCI method for the control of home appliance

This paper describes a HCI system for the control of home appliance which is focused on human friendliness. This system utilizes two USB cameras to enable a user to select home appliance easily by hand pointing gesture. We propose two different methods of storing the three dimensional position of home appliance by user. Home appliance selection method and feedback for users wrong pointing direction are also described in this paper. Because of the low cost installation, simple operation and interactive feedback, our proposed system enhances the usability and human-friendliness.