Multimodal Signal Processing and Learning Aspects of Human-Robot Interaction for an Assistive Bathing Robot

We explore new aspects of assistive living on smart human-robot interaction (HRI) that involve automatic recognition and online validation of speech and gestures in a natural interface, providing social features for HRI. We introduce a whole framework and resources of a real-life scenario for elderly subjects supported by an assistive bathing robot, addressing health and hygiene care issues. We contribute a new dataset and a suite of tools used for data acquisition and a state-of-the-art pipeline for multimodal learning within the framework of the I-Support bathing robot, with emphasis on audio and RGB-D visual streams. We consider privacy issues by evaluating the depth visual stream along with the RGB, using Kinect sensors. The audio-gestural recognition task on this new dataset yields up to 84.5%, while the online validation of the I-Support system on elderly users accomplishes up to 84% when the two modalities are fused together. The results are promising enough to support further research in the area of multimodal recognition for assistive social HRI, considering the difficulties of the specific task. Upon acceptance of the paper part of the data will be publicly available

I-Support: A robotic platform of an assistive bathing robot for the elderly population

In this paper we present a prototype integrated robotic system, the I-Support bathing robot, that aims at supporting new aspects of assisted daily-living activities on a real-life scenario. The paper focuses on describing and evaluating key novel technological features of the system, with the emphasis on cognitive human–robot interaction modules and their evaluation through a series of clinical validation studies. The I-Support project on its whole has envisioned the development of an innovative, modular, ICT-supported service robotic system that assists frail seniors to safely and independently complete an entire sequence of physically and cognitively demanding bathing tasks, such as properly washing their back and their lower limbs. A variety of innovative technologies have been researched and a set of advanced modules of sensing, cognition, actuation and control have been developed and seamlessly integrated to enable the system to adapt to the target population abilities. These technologies include: human activity monitoring and recognition, adaptation of a motorized chair for safe transfer of the elderly in and out the bathing cabin, a context awareness system that provides full environmental awareness, as well as a prototype soft robotic arm and a set of user-adaptive robot motion planning and control algorithms. This paper focuses in particular on the multimodal action recognition system, developed to monitor, analyze and predict user actions with a high level of accuracy and detail in real-time, which are then interpreted as robotic tasks. In the same framework, the analysis of human actions that have become available through the project’s multimodal audio–gestural dataset, has led to the successful modeling of Human–Robot Communication, achieving an effective and natural interaction between users and the assistive robotic platform. In order to evaluate the I-Support system, two multinational validation studies were conducted under realistic operating conditions in two clinical pilot sites. Some of the findings of these studies are presented and analyzed in the paper, showing good results in terms of: (i) high acceptability regarding the system usability by this particularly challenging target group, the elderly end-users, and (ii) overall task effectiveness of the system in different operating modes

Implementing a Wizard of Oz Tool for Augmented Reality

This thesis aims to explore Wizard of Oz testing in conjunction with Augmented Reality (AR) and focus has been put on testing AR with Head Mounted Displays. The recent increase of interest in HMDs with products such as MOD Live from Recon Instruments and Google's Project Glass puts new demands and possibilities on human-computer interaction. Since the commercial market for HMDs is still in its infancy the need to explore different design approaches is very much present. One way to conduct experiments on human-machine interaction is with the help of a Wizard of Oz tool. During the thesis we have developed such a tool to support designers in researching usability and interaction. The tool provides a user friendly framework to carry out user case studies focused on AR with HMDs. After input and feedback from stakeholders and experts we believe that, even though the tool is mainly meant to be used in conjunction with AR in HMDs, the tool can be applied to other areas as well

User-Defined Gestural Interaction: a Study on Gesture Memorization

8 pagesInternational audienceIn this paper we study the memorization of user created gestures for 3DUI. Wide public applications mostly use standardized gestures for interactions with simple contents. This work is motivated by two application cases for which a standardized approach is not possible and thus user specific or dedicated interfaces are needed. The first one is applications for people with limited sensory-motor abilities for whom generic interaction methods may not be adapted. The second one is creative arts applications, for which gesture freedom is part of the creative process. In this work, users are asked to create gestures for a set of tasks, in a specific phase, prior to using the system. We propose a user study to explore the question of gesture memorization. Gestures are recorded and recognized with a Hidden Markov Model. Results show that it seems difficult to recall more than two abstract gestures. Affordances strongly improve memorization whereas the use of colocalization has no significant effect

Application-driven visual computing towards industry 4.0 2018

245 p.La Tesis recoge contribuciones en tres campos: 1. Agentes Virtuales Interactivos: autónomos, modulares, escalables, ubicuos y atractivos para el usuario. Estos IVA pueden interactuar con los usuarios de manera natural.2. Entornos de RV/RA Inmersivos: RV en la planificación de la producción, el diseño de producto, la simulación de procesos, pruebas y verificación. El Operario Virtual muestra cómo la RV y los Co-bots pueden trabajar en un entorno seguro. En el Operario Aumentado la RA muestra información relevante al trabajador de una manera no intrusiva. 3. Gestión Interactiva de Modelos 3D: gestión online y visualización de modelos CAD multimedia, mediante conversión automática de modelos CAD a la Web. La tecnología Web3D permite la visualización e interacción de estos modelos en dispositivos móviles de baja potencia.Además, estas contribuciones han permitido analizar los desafíos presentados por Industry 4.0. La tesis ha contribuido a proporcionar una prueba de concepto para algunos de esos desafíos: en factores humanos, simulación, visualización e integración de modelos

16th Sound and Music Computing Conference SMC 2019 (28–31 May 2019, Malaga, Spain)

The 16th Sound and Music Computing Conference (SMC 2019) took place in Malaga, Spain, 28-31 May 2019 and it was organized by the Application of Information and Communication Technologies Research group (ATIC) of the University of Malaga (UMA). The SMC 2019 associated Summer School took place 25-28 May 2019. The First International Day of Women in Inclusive Engineering, Sound and Music Computing Research (WiSMC 2019) took place on 28 May 2019. The SMC 2019 TOPICS OF INTEREST included a wide selection of topics related to acoustics, psychoacoustics, music, technology for music, audio analysis, musicology, sonification, music games, machine learning, serious games, immersive audio, sound synthesis, etc

Music conducting pedagogy and technology : a document analysis on best practices

This document analysis was designed to investigate pedagogical practices of music conducting teachers in conjunction with research of technologists on the use of various technologies as teaching tools. I sought to discern how conducting teachers and pedagogues are applying recent technological advancements into their teaching strategies. I also sought to understand what paths research is taking about the use of software, hardware, and computer systems applied to the teaching of music conducting technique. This dissertation was guided by four main research questions: (1) How has technology been used to aid in the teaching of conducting? (2) What is the role of technology in the context of conducting pedagogy? (3) Given that conducting is a performative act, how can it be developed through technological means? (4) What technological possibilities exist in the teaching of music conducting technique? Data were collected through music conducting syllabi, conducting textbooks, and research articles. Documents were selected through purposive sampling procedures. Analysis of documents through the constant comparative approach identified emerging themes and differences across the three types of documents. Based on a synthesis of information, I discussed implications for conducting pedagogy and made suggestions for conducting educators.Includes bibliographical references