Change search
Link to record
Permanent link

Direct link
BETA
Publications (10 of 166) Show all publications
Solis, J., Sorensen, A. S. & Rasmussen, G. (2019). Bodily Human Robot Interaction. In: HRI '19: 2019 14TH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION. Paper presented at 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI), MAR 11-14, 2019, Daegu, SOUTH KOREA (pp. 683-684). IEEE
Open this publication in new window or tab >>Bodily Human Robot Interaction
2019 (English)In: HRI '19: 2019 14TH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION, IEEE , 2019, p. 683-684Conference paper, Published paper (Refereed)
Abstract [en]

This workshop is dedicated to discuss and explore the specific interdisciplinary aspects of Bodily human robot interaction, and establish a common ground for this area as a recognized and continued research topic. Bodily interaction with robots and robotic devices is partially established in niche applications such as exoskeletons, assistive devices and advanced machines for physical training where bodily interaction is the application. Bodily interaction is expected to develop a broader role in human robot interaction, for instance in manufacturing and in social and entertainment robotics. The direct exchange of force and motion in bodily interaction create a range of engineering challenges, but also entwine engineering directly with topics that traditionally reside in the realm of health and humanistic science, from biomechanics to human's social responses to the prompting and responses of physical interaction.

Place, publisher, year, edition, pages
IEEE, 2019
Series
ACM IEEE International Conference on Human-Robot Interaction, ISSN 2167-2121
Keywords
physical HRI, physical training, assistive devices
National Category
Robotics
Identifiers
urn:nbn:se:kau:diva-72123 (URN)10.1109/HRI.2019.8673132 (DOI)000467295400155 ()978-1-5386-8555-6 (ISBN)978-1-5386-8556-3 (ISBN)
Conference
14th ACM/IEEE International Conference on Human-Robot Interaction (HRI), MAR 11-14, 2019, Daegu, SOUTH KOREA
Available from: 2019-05-23 Created: 2019-05-23 Last updated: 2019-06-10Bibliographically approved
Oka, T., Matsuura, D., Sugahara, Y., Solis, J., Lindborg, A. L. & Takeda, Y. (2019). Chopstick-type gripper mechanism for meal-assistance robot capable of adapting to size and elasticity of foods. Mechanisms and Machine Science, 66, 284-292
Open this publication in new window or tab >>Chopstick-type gripper mechanism for meal-assistance robot capable of adapting to size and elasticity of foods
Show others...
2019 (English)In: Mechanisms and Machine Science, ISSN 2211-0984, E-ISSN 2211-0992, Vol. 66, p. 284-292Article in journal (Refereed) Published
Abstract [en]

This paper proposed a chopstick-type gripper for a meal-assistance robot, which is capable of adapting its shape and the contact force with the target food according to the size and the elasticity of the food. Solely using position control of the driving motor for the mechanism, this feature was enabled without relying on force sensors. The gripper was designed based on the concept of under-actuation and a planar mechanism with 2 DOF composed of a combination of 2 four-bar mechanisms having a torsion spring in a passive joint. To clarify the gripping motion and relationship among the contact force, food’s size and elasticity, a simulation based on kineto-elasto-static analysis was performed. Finally, to verify the theoretical analysis, a simple prototype was manufactured and an experiment to measure the contact force has been conducted.

Place, publisher, year, edition, pages
Springer Netherlands, 2019
Keywords
Chopstick-type gripper, Kineto-elasto-static analysis, Meal-assistance robot, Mechanism design, Under-actuated mechanism, Elasticity, Grippers, Machine design, Position control, Static analysis, Contact forces, Four-bar mechanisms, Meal-assistance robots, Planar mechanism, Torsion Springs, Under-actuation, Mechanisms
National Category
Robotics
Identifiers
urn:nbn:se:kau:diva-69362 (URN)10.1007/978-3-030-00365-4_34 (DOI)000460585000034 ()2-s2.0-85052799107 (Scopus ID)
Available from: 2018-09-21 Created: 2018-09-21 Last updated: 2019-04-05Bibliographically approved
Zhang, C., Ohashi, T., Saijo, M., Solis, J., Takeda, Y., Lindborg, A.-L. -., . . . Tanaka, Y. (2018). A Monte Carlo based computation offloading algorithm for feeding robot IoT system. In: Smart Computing and Communication: . Paper presented at 10 December 2018 through 12 December 2018 (pp. 163-171). Springer Verlag
Open this publication in new window or tab >>A Monte Carlo based computation offloading algorithm for feeding robot IoT system
Show others...
2018 (English)In: Smart Computing and Communication, Springer Verlag , 2018, p. 163-171Conference paper, Published paper (Refereed)
Abstract [en]

Ageing is becoming an increasingly major problem in European and Japanese societies. We have so far mainly focused on how to improve the eating experience for both frail elderly and caregivers by introducing and developing the eating aid robot, Bestic, made to get the food from plate to the mouth for frail elderly or person with disabilities. We expand the functionalities of Bestic to create food intake reports automatically so as to decrease the undernutrition among frail elderly and workload of caregivers through collecting data via a vision system connected to the Internet of Things (IoT) system. Since the computation capability of Bestic is very limited, computation offloading, in which resource intensive computational tasks are transferred from Bestic to an external cloud server, is proposed to solve Bestic’s resource limitation. In this paper, we proposed a Monte Carlo algorithm based heuristic computation offloading algorithm, to minimize the total overhead of all the Bestic users after we show that the target optimization problem is NP-hard in a theorem. Numeric results showed that the proposed algorithm is effective in terms of system-wide overhead.

Place, publisher, year, edition, pages
Springer Verlag, 2018
Series
Lecture Notes in Computer Science
Keywords
Computation offloading, Eating robot, IoT, Computation theory, Monte Carlo methods, Robots, Cloud servers, Computational task, Internet of thing (IOT), Monte carlo algorithms, Resource limitations, Target optimization, Vision systems, Internet of things
National Category
Robotics
Identifiers
urn:nbn:se:kau:diva-71257 (URN)10.1007/978-3-030-05755-8_17 (DOI)2-s2.0-85058561419 (Scopus ID)9783030057541 (ISBN)
Conference
10 December 2018 through 12 December 2018
Available from: 2019-02-21 Created: 2019-02-21 Last updated: 2019-03-06Bibliographically approved
Solis, J., Karlsson, C., Ogenvall, M., Lindborg, A.-L., Takeda, Y. & Zhang, C. (2018). Development of a vision-based feature extraction for food intake estimation for a robotic assistive eating device. In: 14th IEEE International Conference on Automation Science and Engineering Munich, Germany, August 20 to 24, 2018: . Paper presented at 14th IEEE International Conference on Automation Science and Engineering (pp. 1105-1109).
Open this publication in new window or tab >>Development of a vision-based feature extraction for food intake estimation for a robotic assistive eating device
Show others...
2018 (English)In: 14th IEEE International Conference on Automation Science and Engineering Munich, Germany, August 20 to 24, 2018, 2018, p. 1105-1109Conference paper, Published paper (Refereed)
Series
IEEE International Conference on Automation Science and Engineering, ISSN 2161-8070
National Category
Robotics
Research subject
Electrical Engineering
Identifiers
urn:nbn:se:kau:diva-69965 (URN)000460536600174 ()978-1-5386-3593-3 (ISBN)
Conference
14th IEEE International Conference on Automation Science and Engineering
Available from: 2018-10-26 Created: 2018-10-26 Last updated: 2019-04-05Bibliographically approved
Garcia Ricardez, G. A., Solis, J., Takamatsu, J. & Ogasawara, T. (2018). Interaction Force Estimation for Quantitative Comfort Evaluation of an Eating Assistive Device. In: HRI '18 Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction: . Paper presented at HRI'18 - the 13th Annual ACM/IEEE International Conference on Human Robot Interaction, Chicago, USA, March 05-08, 2018 (pp. 113-114). ACM Digital Library
Open this publication in new window or tab >>Interaction Force Estimation for Quantitative Comfort Evaluation of an Eating Assistive Device
2018 (English)In: HRI '18 Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, ACM Digital Library, 2018, p. 113-114Conference paper, Published paper (Refereed)
Abstract [en]

Robots usage in the fields of human support and healthcare is wide-spreading. Robotic devices to assist humans in the self-feeding task have been developed to help patients with limited mobility in the upper limbs but the acceptance of these robots has been limited. In this work, we investigate how to quantitatively evaluate the comfort of an eating assistive device by estimating the interaction forces between the human and the robot when eating. We experimentally verify our concept with a commercially-available eating assistive device and a human subject. The evaluation results demonstrate the feasibility of our approach.

Place, publisher, year, edition, pages
ACM Digital Library, 2018
Keywords
eating assistive device, healthcare, human comfort, Health care, Man machine systems, Assistive devices, Comfort evaluation, Evaluation results, Human comforts, Human subjects, Human support, Interaction forces, Robotic devices, Human robot interaction
National Category
Robotics
Identifiers
urn:nbn:se:kau:diva-67274 (URN)10.1145/3173386.3177039 (DOI)2-s2.0-85045270390 (Scopus ID)9781450356152 (ISBN)
Conference
HRI'18 - the 13th Annual ACM/IEEE International Conference on Human Robot Interaction, Chicago, USA, March 05-08, 2018
Available from: 2018-05-04 Created: 2018-05-04 Last updated: 2018-07-09Bibliographically approved
Garcia, G., Solis, J., Takamatsu, J. & Ogasawara, T. (2018). Interaction Force Estimation of an Eating Assistive Device for Quantitative Comfort Evaluation. In: Takayuki Kanda, Selma Ŝabanović, Guy Hoffman, Adriana Tapus (Ed.), Proceeding HRI '18 Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction: . Paper presented at 13th Annual ACM/IEEE International Conference on Human Robot Interaction 5-8 Mar Chicago USA (pp. 909-914).
Open this publication in new window or tab >>Interaction Force Estimation of an Eating Assistive Device for Quantitative Comfort Evaluation
2018 (English)In: Proceeding HRI '18 Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction / [ed] Takayuki Kanda, Selma Ŝabanović, Guy Hoffman, Adriana Tapus, 2018, p. 909-914Conference paper, Published paper (Refereed)
National Category
Robotics
Identifiers
urn:nbn:se:kau:diva-69964 (URN)10.1145/3173386.3177039 (DOI)978-1-4503-5615-2 (ISBN)
Conference
13th Annual ACM/IEEE International Conference on Human Robot Interaction 5-8 Mar Chicago USA
Available from: 2018-10-26 Created: 2018-10-26 Last updated: 2019-02-26Bibliographically approved
Garcia Ricardez, G. A., Takamatsu, J., Ogasawara, T. & Solis, J. (2018). Quantitative Comfort Evaluation of Eating Assistive Devices based on Interaction Forces Estimation using an Accelerometer. In: RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication: . Paper presented at 27th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2018, 27 August 2018 through 31 August 2018 (pp. 909-914). IEEE
Open this publication in new window or tab >>Quantitative Comfort Evaluation of Eating Assistive Devices based on Interaction Forces Estimation using an Accelerometer
2018 (English)In: RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication, IEEE, 2018, p. 909-914Conference paper, Published paper (Refereed)
Abstract [en]

Robot usage in the fields of human support and healthcare is expanding. Robotic devices to assist humans in the self-feeding task have been developed to help patients with limited mobility in the upper limbs but the acceptance of these robots has been limited. In this work, we investigate how to quantitatively evaluate the comfort of an eating assistive device by estimating the interaction forces between the human and the robot when eating. Rather than using expensive or commercially unavailable devices to directly measure the forces involved in feeding, we use an accelerometer to estimate these forces, which are calculated using a previously observed estimation of the system mass and the measured acceleration during the feeding process. We experimentally verify our concept with a commercially-available eating assistive device and a human subject. The evaluation results demonstrate the feasibility of our approach.

Place, publisher, year, edition, pages
IEEE, 2018
Keywords
Accelerometers, Feeding, Assistive devices, Comfort evaluation, Evaluation results, Human subjects, Human support, Interaction forces, Robotic devices, Upper limbs, Human robot interaction
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Electrical Engineering
Identifiers
urn:nbn:se:kau:diva-71244 (URN)10.1109/ROMAN.2018.8525720 (DOI)2-s2.0-85058113337 (Scopus ID)9781538679807 (ISBN)
Conference
27th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2018, 27 August 2018 through 31 August 2018
Available from: 2019-02-21 Created: 2019-02-21 Last updated: 2019-06-14Bibliographically approved
Solis, J., Karlsson, C. & Lindborg, A.-L. (2018). Vision-based Detection and Target Positioning for Mobile Robotic Devices. In: : . Paper presented at 16th Mechatronics Forum International Conference University of Strathclyde 19–21 September 2018.
Open this publication in new window or tab >>Vision-based Detection and Target Positioning for Mobile Robotic Devices
2018 (English)Conference paper, Published paper (Refereed)
National Category
Robotics
Identifiers
urn:nbn:se:kau:diva-69967 (URN)
Conference
16th Mechatronics Forum International Conference University of Strathclyde 19–21 September 2018
Available from: 2018-10-26 Created: 2018-10-26 Last updated: 2019-02-26Bibliographically approved
Solis, J. (2017). 3D gesture recognition system for a dynamically-stable human-friendly robot vehicle. In: : . Paper presented at ISIPS 2017 - 11th International collaboration Symposium on Information, Production and Systems, Waseda university, Kitakyushu, Japan, 14-16 November 2017.
Open this publication in new window or tab >>3D gesture recognition system for a dynamically-stable human-friendly robot vehicle
2017 (English)Conference paper, Published paper (Refereed)
National Category
Engineering and Technology Robotics
Research subject
Electrical Engineering
Identifiers
urn:nbn:se:kau:diva-65262 (URN)
Conference
ISIPS 2017 - 11th International collaboration Symposium on Information, Production and Systems, Waseda university, Kitakyushu, Japan, 14-16 November 2017
Available from: 2017-11-24 Created: 2017-11-24 Last updated: 2018-08-13Bibliographically approved
Solis, J. & Amaral, F. (2017). Denoising of human motion data for a 3D gesture recognition system for a two-wheeled inverted pendulum robot. In: : . Paper presented at AIMS 2017 - IEEE International Conference on Advanced Intelligent Mechatronics, München, Germany, 26-30 June 2017.
Open this publication in new window or tab >>Denoising of human motion data for a 3D gesture recognition system for a two-wheeled inverted pendulum robot
2017 (English)Conference paper, Published paper (Refereed)
National Category
Robotics
Identifiers
urn:nbn:se:kau:diva-65265 (URN)
Conference
AIMS 2017 - IEEE International Conference on Advanced Intelligent Mechatronics, München, Germany, 26-30 June 2017
Available from: 2017-11-24 Created: 2017-11-24 Last updated: 2018-08-08Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-6865-7346

Search in DiVA

Show all publications