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1

HMM-based phoneme speech recognition system for the control and command of industrial robots

Naik Adwait

Technical Transactions

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2021

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Vol. 118, iss. 1

art. no. e2021002

EN

n recent years, the integration of human-robot interaction with speech recognition has gained a lot of pace in the manufacturing industries. Conventional methods to control the robots include semi-autonomous, fully-autonomous, and wired methods. Operating through a teaching pendant or a joystick is easy to implement but is not effective when the robot is deployed to perform complex repetitive tasks. Speech and touch are natural ways of communicating for humans and speech recognition, being the best option, is a heavily researched technology. In this study, we aim at developing a stable and robust speech recognition system to allow humans to communicate with machines (robotic-arm) in a seamless manner. This paper investigates the potential of the linear predictive coding technique to develop a stable and robust HMM-based phoneme speech recognition system for applications in robotics. Our system is divided into three segments: a microphone array, a voice module, and a robotic arm with three degrees of freedom (DOF). To validate our approach, we performed experiments with simple and complex sentences for various robotic activities such as manipulating a cube and pick and place tasks. Moreover, we also analyzed the test results to rectify problems including accuracy and recognition score.

2

Human-social interaction robots to improve shared attention in children with autism

Ashrafi Ali

Journal of Computer Sciences Institute

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2021

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Vol. 18

49--54

EN

The motivation behind the momentum research is use of robots explicitly human robots which has filled drastically in various domains, including treatment. In this examination, a humanoid robot was used to improve open consideration in children with mental imbalance. One of the troubles of this system is that contamination makes remarkable conditions for the patient that the presence of the guide and some other new thing isn't easily recognized. The subsequent test is to pick appropriate figuring and systems for following the head and understudy of the eye in youthful steers with mental awkwardness. One of the credits of which is obligatory and uncontrolled improvements of the head and eyes to the sides. The third issue is the treatment and investigation strategies. The treatment cycle and the arranged tests should not to reason extravagant instigation in the youth. The aim is to beat the referred to troubles, not-withstanding the high-block progressing understudy following count, without the use of business gear. Fleecy decision tree has been used to join clinical and planning information during therapy, ultimately the possibility of instinctive therapy for the improvement of restoratively withdrawn young people has been introduced.

3

Development of Speaker Voice Identification Using Main Tone Boundary Statistics for Applying To Robot-Verbal Systems

Amirgaliyev Yedilkhan, Musabayev Timur, Yedilkhan Didar, Wojcik Waldemar, Amirgaliyeva Zhazira

International Journal of Electronics and Telecommunications

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2020

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Vol. 66, No. 3

583--588

EN

Hereby there is given the speaker identification basic system. There is discussed application and usage of the voice interfaces, in particular, speaker voice identification upon robot and human being communication. There is given description of the information system for speaker automatic identification according to the voice to apply to robotic-verbal systems. There is carried out review of algorithms and computer-aided learning libraries and selected the most appropriate, according to the necessary criteria, ALGLIB. There is conducted the research of identification model operation performance assessment at different set of the fundamental voice tone. As the criterion of accuracy there has been used the percentage of improperly classified cases of a speaker identification.

4

Evaluation of the uncanny valley hypothesis based on declared emotional response and psychophysiological reaction

Ratajczyk Dawid, Jukiewicz Marcin, Lupkowski Paweł

Bio-Algorithms and Med-Systems

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2019

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Vol. 15, no. 2

art. no. 20190008

EN

The uncanny valley (UV) hypothesis suggests that the observation of almost human-like characters causes an increase of discomfort. We conducted a study using self-report questionnaire, response time measurement, and electrodermal activity (EDA) evaluation. In the study, 12 computer-generated characters (robots, androids, animated, and human characters) were presented to 33 people (17 women) to (1) test the effect of a background context on the perception of characters, (2) establish whether there is a relation between declared feelings and physiological arousal, and (3) detect the valley of the presented stimuli. The findings provide support for reverse relation between human-likeness and the arousal (EDA). Furthermore, a positive correlation between EDA and human-likeness appraisal reaction time upholds one of the most common explanations of the UV - the categorization ambiguity. The absence of the significant relationship between declared comfort and EDA advocates the necessity of physiological measures for UV studies.

5

The application extending the capabilities of the human-robot interaction of the humanoid robot NAO

Gardecki A., Kawala-Janik A.

Prace Instytutu Elektrotechniki

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2016

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Z. 273

45--53

EN

In this work of an interdisciplinary character, the potential implementation of the humanoid robot NAO in regards of research on the lateralization phenomenon was presented. Some assumptions regarding the system for therapy on selected laterality disorders in children were presented. The NAO humanoid robot was implemented for the purpose of interaction with child in order to focus its attention and make him willing to make and repeat given exercises. It is particularly important for autistic children. Also the basics of the proposed LES (Lateralization Exercise System) system were presented, which could enable to apply the solution of varying components for the information exchange in human-robot system.

PL

W artykule o charakterze interdyscyplinarnym zaproponowano użycie humanoidalnego robota NAO do wspomagania terapii lateralizacji. W pracy omówiono założenia dotyczące systemu terapii zaburzeń lateralizacji u dzieci. Zastosowanie w terapii robota humanoidalnego NAO powoduje większe skupienie uwagi dziecka na ćwiczeniach i chęć powtarzania ćwiczeń. Jest to szczególnie ważne w przypadku dzieci autystycznych. Zaprezentowano także podstawy opracowanego systemu LES (System Ćwiczeń Lateralizacji), który umożliwia zastosowanie różnych komponentów do wymiany informacji w systemie człowiek-robot.

6

RGB-D Sensors in Social Robotics

Dziergwa M., Kaczmarek P., Kędzierski J.

Journal of Automation Mobile Robotics and Intelligent Systems

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2015

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Vol. 9, No. 1

18--27

EN

This article presents the results of a series of experiments carried out using a Kinect for Windows sensor coupled with dedicated software. The focus of this study is on the use of such devices in the field of social robotics. Two software packages are considered - Microsoft Kinect SDK and OpenNI coupled with NiTE library. Particular emphasis is placed on the parameters affecting the social competencies of a robot, such as the speed of detecting users, the accuracy of establishing position and orientation of a user or stability of the tracking process. Key characteris tics of the evaluated software packages are identified and differences regarding their usage outlined in view of interaction oriented algorithms.

7

Polish Version of the Negative Attitude Toward Robots Scale (NARS-PL)

Pochwatko G., Giger J.-C., Różańska-Walczuk M., Świdrak J., Kukiełka K., Możaryn J., Piçarra N.

Journal of Automation Mobile Robotics and Intelligent Systems

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2015

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Vol. 9, No. 3

65--72

EN

This paper presents the Polish adaptation of the Negative Attitude toward Robots Scale (NARS-PL), primarily created by Nomura et al. (2004). 213 individuals participated in the study (49 professionals and 164 non- professionals). The Polish version obtained satisfactory psychometric properties for a two-factor structure. Both subscales, the Negative Attitudes toward Robots that Display Human Traits (NARHT) and the Negative Attitudes toward Interactions with Robots (NATIR) possess good internal consistency. Effects of participant gender and robot’s appearance were found. Theory consistent relationships between attitude toward robots, belief in human nature uniqueness and robots’ human-likeness are discussed.

8

Intuitive User Interfaces for Mobile Manipulation Tasks

Zubrycki I., Granosik G.

Journal of Automation Mobile Robotics and Intelligent Systems

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2015

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Vol. 9, No. 1

41--52

EN

This article describes interactive methods that can ease difficult manipulation tasks in Search & Rescue operations. We discuss the requirements that are necessary for a telemanipulation system to be successfully used. These include not just correctness of generated motion but also ergonomy, mobility and interactivity of the operator’s interface. We show that grippers with one or more degrees of freedom can be intuitively controlled by different interface mechanisms, supported by 3D vision systems. Tests are performed both in the simulation environment and with real grippers. A practical pipeline for a direct control and learning the system is also presented.

9

The Self in the Machine

Zawieska K., Duffy B. R.

Pomiary Automatyka Robotyka

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2014

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R. 18, nr 2

78--82

EN

Social human-robot interaction (HRI) has been widely recognised as one of the major challenges for robotics. This social aspect includes designing robots that embraces various humanlike characteristics regarding robot appearance and behaviour. Few HRI studies, however, address the core goal of human social interaction, i.e. the development of the self. This paper argues that social robots can constitute an illusion or an extension of the human self and should be developed as such. The concept of the self and its meanings for HRI research are here discussed from the symbolic interactionism perspective.

PL

Interakcja społeczna między ludźmi i robotami stanowi jedno z głównych wyzwań dla współczesnej robotyki. Aspekt społeczny interakcji między ludźmi i maszynami zawiera budowanie robotów, które posiadają cechy naśladujące cechy ludzkie w kontekście wyglądu i zachowania robota. Mimo to, niewiele prac skupia się na głównym celu ludzkich interakcji społecznych z robotami, tzn. na rozwinięciu jaźni w maszynie. Autorzy niniejszej pracy twierdzą, że roboty mogą stanowić rozszerzenie ludzkiej jaźni i jako takie powinny być rozwijane. Pojęcie jaźni oraz jego znaczenie dla badań w dziedzinie Human-Robot Interaction (HRI) omawiane są w pespektywy interakcjonizmu symbolicznego.

10

Psychologiczne aspekty interakcji człowiek-robot

Rudnicka P.

Medical Robotics Reports

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2014

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vol. 3

53--59

PL

W ostatnich latach obserwować możemy intensywny rozwój robotyki i ekspansję robotów poza zastosowania w przemyśle, wojsku czy medycynie. Coraz większa dostępność cenowa sprawia, że obecność robotów w domach, pełniących różnorodne funkcje od sprzątania poprzez rozrywkę staje się czymś coraz bardziej powszechnym. Roboty to najbardziej zaawansowane technologicznie maszyny stworzone przez człowieka i przez niego używane. Projektowanie i konstruowanie robotów, pełniących nowe role współpracowników, towarzyszy i opiekunów, a przede wszystkim wprowadzanie ich do użytku na skalę masową, stawia nowe wyzwania przed wieloma dziedzinami nauki stanowiącymi podstawę nowej dyscypliny jaką jest interakcja człowiek-robot (HRI, Human-Robot Interaction). Celem tego artykuły jest przybliżenie psychologicznych zagadnień związanych z interakcją człowiek-robot w obszarze robotyki medycznej.

EN

In recent years we observe the rapid development in the field of robotics and robots expansion beyond manufacturing, military, and medical domain. Becoming increasingly affordable makes robots’ presence in households, where they are performing a variety of functions from cleaning through entertainment, something more and more common. Robots are the most technologically advanced machines created by humans and destined to serve them. To design and construct a robot performing new roles of workplace peers, companions caretakers, and guardians and to turn them into a mass product presents challenges for Human- Robot Interaction (HRI). The purpose of this paper is to outline psychological issues related to HRI in the specific field of medical robotics.

11

Communication atmosphere in humans and robots interaction based on the concept of fuzzy atmosfield generated by emotional states of humans and robots

Liu Z. T., Chen L. F., Dong F. Y., Hirota K., Min W., Li D. Y., Yamazaki Y.

Journal of Automation Mobile Robotics and Intelligent Systems

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2013

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Vol. 7, No. 2

52--63

EN

Communication atmosphere based on emotional states of humans and robots is modeled by using Fuzzy Atmosfield (FA), where the human emotion is estimated from bimodal communication cues (i.e., speech and gesture) using weighted fusion and fuzzy logic, and the robot emotion is generated by emotional expression synthesis. It makes possible to quantitatively express overall affective expression of individuals, and helps to facilitate smooth communication in humans-robots interaction. Experiments in a household environment are performed by four humans and five eye robots, where emotion recognition of humans based on bimodal cues achieves 84% accuracy in average, improved by about 10% compared to that using only speech. Experimental results from the model of communication atmosphere based on the FA are evaluated by comparing with questionnaire surveys, from which the maximum error of 0.25 and the minimum correlation coefficient of 0.72 for three axes in the FA confirm the validity of the proposal. In ongoing work, an atmosphere representation system is being planned for casual communication between humans and robots, taking into account multiple emotional modalities such as speech, gesture, and music.

12

An NLP-based approach for improving human-robot interaction

Kilicaslan Y., Tuna G.

Journal of Artificial Intelligence and Soft Computing Research

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2013

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Vol. 3, No. 3

189--200

EN

This study aims to explore the possibility of improving human-robot interaction (HRI) by exploiting natural language resources and using natural language processing (NLP) methods. The theoretical basis of the study rests on the claim that effective and efficient human robot interaction requires linguistic and ontological agreement. A further claim is that the required ontology is implicitly present in the lexical and grammatical structure of natural language. The paper offers some NLP techniques to uncover (fragments of) the ontology hidden in natural language and to generate semantic representations of natural language sentences using that ontology. The paper also presents the implementation details of an NLP module capable of parsing English and Turkish along with an overview of the architecture of a robotic interface that makes use of this module for expressing the spatial motions of objects observed by a robot.

13

Understanding anthropomorphisation in social robotics

Zawieska K., Duffy B. R., Strońska A.

Pomiary Automatyka Robotyka

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2012

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R. 16, nr 11

78-82

EN

This paper discusses different approaches to anthropomorphism in social robotics. While anthropomorphisation in robotics is often understood as the human tendency to perceive robots as humanlike in response to stimuli provided by machines, the authors argue that it is also an interpretative process which is highly subjective and limited in duration. To project human characteristics onto robots means to attribute qualities that robots do not have. Thus, in order to understand the nature of user engagement in human-robot interaction, it is of crucial importance to have a clear understanding of anthropomorphism in the field of social robotics.

PL

Artykuł przedstawia różne ujęcia antropomorfizmu w robotyce społecznej. Podczas gdy antropomorfizacja jest często rozumiana jako tendencja człowieka do przypisywania robotom cech ludzkich w odpowiedzi na bodźce dostarczone przez maszyny, autorzy niniejszej pracy twierdzą, że jest to także wysoce subiektywny proces interpretacyjny, którego trwanie jest ograniczone w czasie. Przypisywanie robotom właściwości ludzkich oznacza przypisywanie cech, których roboty nie posiadają. Z tego względu, dokładne zrozumienie antropomorfizacji w dziedzinie robotyki społecznej jest kluczowe dla zrozumienia sposobu, w jaki użytkownik angażuje się w interakcję z robotem.

14

Robotic rehabilitation of stroke patients using an expert system

Natarajan P., Agah A., Liu W.

Journal of Automation Mobile Robotics and Intelligent Systems

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2011

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Vol. 5, No. 1

47-57

EN

Approximately 50 to 60 percent of the more than five million stroke survivors are moderately or minimally impaired, and may greatly benefit from rehabilitation. There is a strong need for cost-effective, long-term rehabilitation solutions, which require the therapists to provide repetitive movements to the affected limb. This is a suitable task for specialized robotic devices; however, with the few commercially available robots, the therapists are required to spend a considerable amount of time programming the robot, monitoring the patients, analyzing the data from the robot, and assessing the progress of the patients. This paper focuses on the design, development, and clinically testing an expert systembased post-stroke robotic rehabilitation system for hemiparetic arm. The results suggest that it is not necessary for a therapist to continuously monitor a stroke patient during robotic training. Given the proper intelligent tools for a rehabilitation robot, cost-effective long-term therapy can be delivered with minimal supervision.

15

Intelligent leader-follower behaviour for unmanned ground-based vehicles

Sadeghi-Tehran P., Andreu J., Angelov P., Zhou X.

Journal of Automation Mobile Robotics and Intelligent Systems

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2011

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Vol. 5, No. 1

36-46

EN

In this paper an autonomous leader-follower is presented and tested in an unknown and unpredictable environment. Three different types of controller named as First principles-based proportional (P) controller, Fuzzy Logic Controller, and Model-based Predictive Controller are developed and tested in real-time to provide a smooth following behaviour. The follower used the leader's status sent by a smart phone to differentiate between obstacles and the leader and then using two types of sensor, laser and sonar, during the obstacle avoidance procedure. In order to identify the leader again out of many obstacles around, two alternative techniques are proposed using superposition of the scans collected by the laser and predicting the leader's trajectory using evolving Takagi- Sugeno (eTS). At the end, experiments are presented with a real-time mobile robot at Lancaster University.

16

A human robot interaction by a model of the emotional learning in the brain

Sonoh S., Aou S., Horio K., Tamukoh H., Koga T., Yamakawa T.

Journal of Automation Mobile Robotics and Intelligent Systems

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2010

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Vol. 4, No. 2

48-54

EN

In this paper, we proposed an emotional expression system as a brain-inspired system. The emotional expression was achieved by an Emotional expression Model of the Amygdala (EMA), which was an engineering model inspired by an emotional learning in the brain. EMA can realize both recognition of sensory inputs and a classical conditioning of emotional inputs. Furthermore, a specific hardware of EMA was developed with a massively parallel architecture by using an FPGA, and achieved a calculation speed that is over 20 times faster than an embedded general-purpose computer. Finally, we confirmed an effectiveness of a human-robot interaction with the emotions, which were generated by the proposed emotional expression system.

17

Safe Reaction of a Robot Arm with Torque Sensing Ability on the External Disturbance and Impact: Implementation of a New Variable Impedance Control

Tsetserukou D., Kajimoto H., Kawakami N., Tachi S.

Journal of Automation Mobile Robotics and Intelligent Systems

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2008

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Vol. 2, No. 4

31-37

EN

The paper focuses on control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment. A novel variable control strategy was elaborated to increase the robot functionality and to achieve human-like dynamics of interaction. The algorithm of impact control imparting reflex action ability to the robot arm was proposed. The experimental results showed successful recognition and realization of three different types of interaction: service task, co-operative task, and impact state.