Development of the huggable social robot Probo: on the conceptual design and software architecture

This dissertation presents the development of a huggable social robot named Probo. Probo embodies a stuffed imaginary animal, providing a soft touch and a huggable appearance. Probo's purpose is to serve as a multidisciplinary research platform for human-robot interaction focused on children. In terms of a social robot, Probo is classified as a social interface supporting non-verbal communication. Probo's social skills are thereby limited to a reactive level. To close the gap with higher levels of interaction, an innovative system for shared control with a human operator is introduced. The software architecture de nes a modular structure to incorporate all systems into a single control center. This control center is accompanied with a 3D virtual model of Probo, simulating all motions of the robot and providing a visual feedback to the operator. Additionally, the model allows us to advance on user-testing and evaluation of newly designed systems. The robot reacts on basic input stimuli that it perceives during interaction. The input stimuli, that can be referred to as low-level perceptions, are derived from vision analysis, audio analysis, touch analysis and object identification. The stimuli will influence the attention and homeostatic system, used to de ne the robot's point of attention, current emotional state and corresponding facial expression. The recognition of these facial expressions has been evaluated in various user-studies. To evaluate the collaboration of the software components, a social interactive game for children, Probogotchi, has been developed. To facilitate interaction with children, Probo has an identity and corresponding history. Safety is ensured through Probo's soft embodiment and intrinsic safe actuation systems. To convey the illusion of life in a robotic creature, tools for the creation and management of motion sequences are put into the hands of the operator. All motions generated from operator triggered systems are combined with the motions originating from the autonomous reactive systems. The resulting motion is subsequently smoothened and transmitted to the actuation systems. With future applications to come, Probo is an ideal platform to create a friendly companion for hospitalised children

A Framework for a Robot's Emotion Engine

An Emotions Engine is a modelling and a simplification of the Brain circuitry that generate emotions. It should produce a variety of responses including rapid reaction-like emotions as well as slower moods. We introduce such an engine and then propose a framework for its translated equivalent for a robot. We then define key issues that need addressing and provide guidelines via the framework, for its implementation onto an actual robot’s Emotions Engine

A Framework for a Robot's Emotion Engine

An Emotions Engine is a modelling and a simplification of the Brain circuitry that generate emotions. It should produce a variety of responses including rapid reaction-like emotions as well as slower moods. We introduce such an engine and then propose a framework for its translated equivalent for a robot. We then define key issues that need addressing and provide guidelines via the framework, for its implementation onto an actual robot’s Emotions Engine

A Framework for a Robot's Emotion Engine

An Emotions Engine is a modelling and a simplification of the Brain circuitry that generate emotions. It should produce a variety of responses including rapid reaction-like emotions as well as slower moods. We introduce such an engine and then propose a framework for its translated equivalent for a robot. We then define key issues that need addressing and provide guidelines via the framework, for its implementation onto an actual robot’s Emotions Engine

Touching a mechanical body: tactile contact with body parts of a humanoid robot is physiologically arousing

A large literature describes the use of robots’ physical bodies to support communication with people. Touch is a natural channel for physical interaction, yet it is not understood how principles of interpersonal touch might carry over to human-robot interaction. Ten students participated in an interactive anatomy lesson with a small, humanoid robot. Participants either touched or pointed to an anatomical region of the robot in each of 26 trials while their skin conductance response was measured. Touching less accessible regions of the robot (e.g., buttocks and genitals) was more physiologically arousing than touching more accessible regions (e.g., hands and feet). No differences in physiological arousal were found when just pointing to those same anatomical regions. Social robots can elicit tactile responses in human physiology, a result that signals the power of robots, and should caution mechanical and interaction designers about positive and negative effects of human-robot interactions

The crying shame of robot nannies: An ethical appraisal

Childcare robots are being manufactured and developed with the long term aim of creating surrogate carers. While total child-care is not yet being promoted, there are indications that it is „on the cards‟. We examine recent research and developments in childcare robots and speculate on progress over the coming years by extrapolating from other ongoing robotics work. Our main aim is to raise ethical questions about the part or full-time replacement of primary carers. The questions are about human rights, privacy, robot use of restraint, deception of children and accountability. But the most pressing ethical issues throughout the paper concern the consequences for the psychological and emotional wellbeing of children. We set these in the context of the child development literature on the pathology and causes of attachment disorders. We then consider the adequacy of current legislation and international ethical guidelines on the protection of children from the overuse of robot care. Who’s to say that at some distant moment there might be an assembly line producing a gentle product in the form of a grandmother- whose stock in trade is love. From

Embodied Cognitive Science of Music. Modeling Experience and Behavior in Musical Contexts

Recently, the role of corporeal interaction has gained wide recognition within cognitive musicology. This thesis reviews evidence from different directions in music research supporting the importance of body-based processes for the understanding of music-related experience and behaviour. Stressing the synthetic focus of cognitive science, cognitive science of music is discussed as a modeling approach that takes these processes into account and may theoretically be embedded within the theory of dynamic systems. In particular, arguments are presented for the use of robotic devices as tools for the investigation of processes underlying human music-related capabilities (musical robotics)

Quantifying the Human Likeness of a Humanoid Robot

In research of human-robot interactions, human likeness (HL) of robots is frequently used as an individual, vague parameter to describe how a robot is perceived by a human. However, such a simplification of HL is often not sufficient given the complexity and multidimensionality of human-robot interaction. Therefore, HL must be seen as a variable influenced by a network of parameter fields. The first goal of this paper is to introduce such a network which systematically characterizes all relevant aspects of HL. The network is subdivided into ten parameter fields, five describing static aspects of appearance and five describing dynamic aspects of behavior. The second goal of this paper is to propose a methodology to quantify the impact of single or multiple parameters out of these fields on perceived HL. Prior to quantification, the minimal perceivable difference, i.e. the threshold of perception, is determined for the parameters of interest in a first experiment. Thereafter, these parameters are modified in whole-number multiple of the threshold of perception to investigate their influence on perceived HL in a second experiment. This methodology was illustrated on the parameters speed and sequencing (onset of joint movements) of the parameter field movement as well as on the parameter sound. Results revealed that the perceived HL is more sensitive to changes in sequencing than to changes in speed. The sound of the motors during the movement also reduced perceived HL. The presented methodology should guide further, systematic explorations of the proposed network of HL parameters in order to determine and optimize acceptance of humanoid robot