This paper presents an implementation of RoSA, a Robot System Assistant, for safe and intuitive human-machine interaction. The interaction modalities were chosen and previously reviewed using a Wizard of Oz study emphasizing a strong propensity for speech and pointing gestures. Based on these findings, we design and implement a new multi-modal system for contactless human-machine interaction based on speech, facial, and gesture recognition. We evaluate our proposed system in an extensive study with multiple subjects to examine the user experience and interaction efficiency. It reports that our method achieves similar usability scores compared to the entirely human remote-controlled robot interaction in our Wizard of Oz study. Furthermore, our framework's implementation is based on the Robot Operating System (ROS), allowing modularity and extendability for our multi-device and multi-user method.
Download full-text PDF |
Source |
|---|---|
| http://www.ncbi.nlm.nih.gov/pmc/articles/PMC8838571 | PMC |
| http://dx.doi.org/10.3390/s22030923 | DOI Listing |
Publication Analysis
Top Keywords
Similar Publications
Empowering drones in vehicular network through fog computing and blockchain technology.
PLoS One
January 2025
Robotics and Internet-of-Things Laboratory, Prince Sultan University, Riyadh, Saudi Arabia.
The performance of drones, especially for time-sensitive tasks, is critical in various applications. Fog nodes strategically placed near IoT devices serve as computational resources for drones, ensuring quick service responses for deadline-driven tasks. However, the limited battery capacity of drones poses a challenge, necessitating energy-efficient Internet of Drones (IoD) systems.
View Article and Find Full Text PDFThe global convergence of some self-scaling conjugate gradient methods for monotone nonlinear equations with application to 3DOF arm robot model.
PLoS One
January 2025
Faculty of Education and Arts, Sohar University, Sohar, Oman.
Conjugate Gradient (CG) methods are widely used for solving large-scale nonlinear systems of equations arising in various real-life applications due to their efficiency in employing vector operations. However, the global convergence analysis of CG methods remains a significant challenge. In response, this study proposes scaled versions of CG parameters based on the renowned Barzilai-Borwein approach for solving convex-constrained monotone nonlinear equations.
View Article and Find Full Text PDFAssessment of temporospatial and kinematic gait parameters using human pose estimation in patients with Parkinson's disease: A comparison between near-frontal and lateral views.
PLoS One
January 2025
Department of Biomedical and Robotics Engineering, Incheon National University, Incheon, Korea.
Gait disturbance is one of the most common symptoms in patients with Parkinson's disease (PD) that is closely associated with poor clinical outcomes. Recently, video-based human pose estimation (HPE) technology has attracted attention as a cheaper and simpler method for performing gait analysis than marker-based 3D motion capture systems. However, it remains unclear whether video-based HPE is a feasible method for measuring temporospatial and kinematic gait parameters in patients with PD and how this function varies with camera position.
View Article and Find Full Text PDFShape-Directed Dynamic Assembly of Active Colloidal Metamachines.
ACS Nano
January 2025
School of Medicine and Health, Harbin Institute of Technology, Harbin 150080, China.
Modularly organizing active micromachines into high-grade metamachines makes a great leap for operating the microscopic world in a biomimetic way. However, modulating the nonreciprocal interactions among different colloidal motors through chemical reactions to achieve the controllable construction of active colloidal metamachines with specific dynamic properties remains challenging. Here, we report the phototactic active colloidal metamachines constructed by shape-directed dynamic self-assembly of chemically driven peanut-shaped TiO colloidal motors and Janus spherical Pt/SiO colloidal motors.
View Article and Find Full Text PDFA Versatile Dual-Responsive Shape-Memory Gripper via Additive Manufacturing Toward High-Performance Cross-Scale Objects Maneuvering.
Small
January 2025
Department of Materials Physics and New Energy Device School of Materials Science and Engineering, Hefei University of Technology, Hefei, 230009, China.
Smart grippers serving as soft robotics have garnered extensive attentions owing to their great potentials in medical, biomedical, and industrial fields. Though a diversity of grippers that account for manipulating the small objects (e.g.
View Article and Find Full Text PDFWant AI Summaries of new PubMed Abstracts delivered to your In-box?
Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!