Multimodal Shared-Control Interaction for Mobile Robots in AAL Environments

This dissertation investigates the design, development and implementation of cognitively adequate, safe and robust, spatially-related, multimodal interaction between human operators and mobile robots in Ambient Assisted Living environments both from the theoretical and practical perspectives. By focusing on different aspects of the concept Interaction, the essential contribution of this dissertation is divided into three main research packages; namely, Formal Interaction, Spatial Interaction and Multimodal Interaction in AAL. As the principle package, in Formal Interaction, research effort is dedicated to developing a formal language based interaction modelling and management solution process and a unified dialogue modelling approach. This package aims to enable a robust, flexible, and context-sensitive, yet formally controllable and tractable interaction. This type of interaction can be used to support the interaction management of any complex interactive systems, including the ones covered in the other two research packages. In the second research package, Spatial Interaction, a general qualitative spatial knowledge based multi-level conceptual model is developed and proposed. The goal is to support a spatially-related interaction in human-robot collaborative navigation. With a model-based computational framework, the proposed conceptual model has been implemented and integrated into a practical interactive system which has been evaluated by empirical studies. It has been particularly tested with respect to a set of high-level and model-based conceptual strategies for resolving the frequent spatially-related communication problems in human-robot interaction. Last but not least, in Multimodal Interaction in AAL, attention is drawn to design, development and implementation of multimodal interaction for elderly persons. In this elderly-friendly scenario, ageing-related characteristics are carefully considered for an effective and efficient interaction. Moreover, a standard model based empirical framework for evaluating multimodal interaction is provided. This framework was especially applied to evaluate a minutely developed and systematically improved elderly-friendly multimodal interactive system through a series of empirical studies with groups of elderly persons

Usable Interface Design for Everyone

En el diseño de "interfaces para todo el mundo" para los sistemas interactivos, es importante tener en cuenta factores como el costo, el mercado de destino, el estado del medio ambiente,etc. Los interfaces de usuario son fundamentales para el proceso de desarrollo de cualquier aplicación, y su diseño debe estar contemplado desde el principio. De las distintas partes de un sistema (hardware y software), es la interfaz el sistema que permite al usuario el acceso a los recursos informáticos. Los siete principios del "Diseño Universal" o "Diseño para Todos" se centran en un diseño utilizable universal, pero al mismo tiempo reconocer la influencia de factores internos y externos. Los cambios estructurales en los servicios sociales y de salud podrían proporcionar un aumento en el bienestar de los ciudadanos de un país a través del uso de la programación de auto-cuidado y la gestión proactiva / prevención de la enfermedad. Plataformas automatizadas en el hogar pueden actuar como un instrumento que permitan a los usuarios evitar, compensar, mitigar o neutralizar las deficiencias y las dependencias causada por el envejecimiento.When designing “interfaces for everyone” for interactive systems, it is important to consider factors such as cost, the intended market, the state of the environment, etc. User interfaces are fundamental for the developmental process in any application, and its design must be contemplated from the start. Of the distinct parts of a system (hardware and software), it is the interface that permits the user access to computer resources. The seven principles of “Universal Design” or “Design for Everyone” focus on a universal usable design, but at the same time acknowledge the influences of internal and external factors. Structural changes in social and health services could provide an increase in the well-being of a country’s citizens through the use of self-care programming and proactive management/prevention of disease. Automated home platforms can act as an accessibility instrument which permits users to avoid, compensate, mitigate, or neutralize the deficiencies and dependencies caused by living alon

Real-time generation and adaptation of social companion robot behaviors

Social robots will be part of our future homes. They will assist us in everyday tasks, entertain us, and provide helpful advice. However, the technology still faces challenges that must be overcome to equip the machine with social competencies and make it a socially intelligent and accepted housemate. An essential skill of every social robot is verbal and non-verbal communication. In contrast to voice assistants, smartphones, and smart home technology, which are already part of many people's lives today, social robots have an embodiment that raises expectations towards the machine. Their anthropomorphic or zoomorphic appearance suggests they can communicate naturally with speech, gestures, or facial expressions and understand corresponding human behaviors. In addition, robots also need to consider individual users' preferences: everybody is shaped by their culture, social norms, and life experiences, resulting in different expectations towards communication with a robot. However, robots do not have human intuition - they must be equipped with the corresponding algorithmic solutions to these problems. This thesis investigates the use of reinforcement learning to adapt the robot's verbal and non-verbal communication to the user's needs and preferences. Such non-functional adaptation of the robot's behaviors primarily aims to improve the user experience and the robot's perceived social intelligence. The literature has not yet provided a holistic view of the overall challenge: real-time adaptation requires control over the robot's multimodal behavior generation, an understanding of human feedback, and an algorithmic basis for machine learning. Thus, this thesis develops a conceptual framework for designing real-time non-functional social robot behavior adaptation with reinforcement learning. It provides a higher-level view from the system designer's perspective and guidance from the start to the end. It illustrates the process of modeling, simulating, and evaluating such adaptation processes. Specifically, it guides the integration of human feedback and social signals to equip the machine with social awareness. The conceptual framework is put into practice for several use cases, resulting in technical proofs of concept and research prototypes. They are evaluated in the lab and in in-situ studies. These approaches address typical activities in domestic environments, focussing on the robot's expression of personality, persona, politeness, and humor. Within this scope, the robot adapts its spoken utterances, prosody, and animations based on human explicit or implicit feedback.Soziale Roboter werden Teil unseres zukünftigen Zuhauses sein. Sie werden uns bei alltäglichen Aufgaben unterstützen, uns unterhalten und uns mit hilfreichen Ratschlägen versorgen. Noch gibt es allerdings technische Herausforderungen, die zunächst überwunden werden müssen, um die Maschine mit sozialen Kompetenzen auszustatten und zu einem sozial intelligenten und akzeptierten Mitbewohner zu machen. Eine wesentliche Fähigkeit eines jeden sozialen Roboters ist die verbale und nonverbale Kommunikation. Im Gegensatz zu Sprachassistenten, Smartphones und Smart-Home-Technologien, die bereits heute Teil des Lebens vieler Menschen sind, haben soziale Roboter eine Verkörperung, die Erwartungen an die Maschine weckt. Ihr anthropomorphes oder zoomorphes Aussehen legt nahe, dass sie in der Lage sind, auf natürliche Weise mit Sprache, Gestik oder Mimik zu kommunizieren, aber auch entsprechende menschliche Kommunikation zu verstehen. Darüber hinaus müssen Roboter auch die individuellen Vorlieben der Benutzer berücksichtigen. So ist jeder Mensch von seiner Kultur, sozialen Normen und eigenen Lebenserfahrungen geprägt, was zu unterschiedlichen Erwartungen an die Kommunikation mit einem Roboter führt. Roboter haben jedoch keine menschliche Intuition - sie müssen mit entsprechenden Algorithmen für diese Probleme ausgestattet werden. In dieser Arbeit wird der Einsatz von bestärkendem Lernen untersucht, um die verbale und nonverbale Kommunikation des Roboters an die Bedürfnisse und Vorlieben des Benutzers anzupassen. Eine solche nicht-funktionale Anpassung des Roboterverhaltens zielt in erster Linie darauf ab, das Benutzererlebnis und die wahrgenommene soziale Intelligenz des Roboters zu verbessern. Die Literatur bietet bisher keine ganzheitliche Sicht auf diese Herausforderung: Echtzeitanpassung erfordert die Kontrolle über die multimodale Verhaltenserzeugung des Roboters, ein Verständnis des menschlichen Feedbacks und eine algorithmische Basis für maschinelles Lernen. Daher wird in dieser Arbeit ein konzeptioneller Rahmen für die Gestaltung von nicht-funktionaler Anpassung der Kommunikation sozialer Roboter mit bestärkendem Lernen entwickelt. Er bietet eine übergeordnete Sichtweise aus der Perspektive des Systemdesigners und eine Anleitung vom Anfang bis zum Ende. Er veranschaulicht den Prozess der Modellierung, Simulation und Evaluierung solcher Anpassungsprozesse. Insbesondere wird auf die Integration von menschlichem Feedback und sozialen Signalen eingegangen, um die Maschine mit sozialem Bewusstsein auszustatten. Der konzeptionelle Rahmen wird für mehrere Anwendungsfälle in die Praxis umgesetzt, was zu technischen Konzeptnachweisen und Forschungsprototypen führt, die in Labor- und In-situ-Studien evaluiert werden. Diese Ansätze befassen sich mit typischen Aktivitäten in häuslichen Umgebungen, wobei der Schwerpunkt auf dem Ausdruck der Persönlichkeit, dem Persona, der Höflichkeit und dem Humor des Roboters liegt. In diesem Rahmen passt der Roboter seine Sprache, Prosodie, und Animationen auf Basis expliziten oder impliziten menschlichen Feedbacks an

Advances in Human-Robot Interaction

Rapid advances in the field of robotics have made it possible to use robots not just in industrial automation but also in entertainment, rehabilitation, and home service. Since robots will likely affect many aspects of human existence, fundamental questions of human-robot interaction must be formulated and, if at all possible, resolved. Some of these questions are addressed in this collection of papers by leading HRI researchers

Web-based environment for user generation of spoken dialog for virtual assistants

In this paper, a web-based spoken dialog generation environment which enables users to edit dialogs with a video virtual assistant is developed and to also select the 3D motions and tone of voice for the assistant. In our proposed system, “anyone” can “easily” post/edit contents of the dialog for the dialog system. The dialog type corresponding to the system is limited to the question-and-answer type dialog, in order to avoid editing conflicts caused by editing by multiple users. The spoken dialog sharing service and FST generator generates spoken dialog content for the MMDAgent spoken dialog system toolkit, which includes a speech recognizer, a dialog control unit, a speech synthesizer, and a virtual agent. For dialog content creation, question-and-answer dialogs posted by users and FST templates are used. The proposed system was operated for more than a year in a student lounge at the Nagoya Institute of Technology, where users added more than 500 dialogs during the experiment. Images were also registered to 65% of the postings. The most posted category is related to “animation, video games, manga.” The system was subjected to open examination by tourist information staff who had no prior experience with spoken dialog systems. Based on their impressions of tourist use of the dialog system, they shortened the length of some of the system’s responses and added pauses to the longer responses to make them easier to understand

Human-Computer Interaction

In this book the reader will find a collection of 31 papers presenting different facets of Human Computer Interaction, the result of research projects and experiments as well as new approaches to design user interfaces. The book is organized according to the following main topics in a sequential order: new interaction paradigms, multimodality, usability studies on several interaction mechanisms, human factors, universal design and development methodologies and tools

Mobile assistive technologies for the visually impaired

There are around 285 million visually impaired people worldwide, and around 370,000 people are registered as blind or partially sighted in the UK. Ongoing advances in information technology (IT) are increasing the scope for IT-based mobile assistive technologies to facilitate the independence, safety, and improved quality of life of the visually impaired. Research is being directed at making mobile phones and other handheld devices accessible via our haptic (touch) and audio sensory channels. We review research and innovation within the field of mobile assistive technology for the visually impaired and, in so doing, highlight the need for successful collaboration between clinical expertise, computer science, and domain users to realize fully the potential benefits of such technologies. We initially reflect on research that has been conducted to make mobile phones more accessible to people with vision loss. We then discuss innovative assistive applications designed for the visually impaired that are either delivered via mainstream devices and can be used while in motion (e.g., mobile phones) or are embedded within an environment that may be in motion (e.g., public transport) or within which the user may be in motion (e.g., smart homes)

State of the art of audio- and video based solutions for AAL

Working Group 3. Audio- and Video-based AAL ApplicationsIt is a matter of fact that Europe is facing more and more crucial challenges regarding health and social care due to the demographic change and the current economic context. The recent COVID-19 pandemic has stressed this situation even further, thus highlighting the need for taking action. Active and Assisted Living (AAL) technologies come as a viable approach to help facing these challenges, thanks to the high potential they have in enabling remote care and support. Broadly speaking, AAL can be referred to as the use of innovative and advanced Information and Communication Technologies to create supportive, inclusive and empowering applications and environments that enable older, impaired or frail people to live independently and stay active longer in society. AAL capitalizes on the growing pervasiveness and effectiveness of sensing and computing facilities to supply the persons in need with smart assistance, by responding to their necessities of autonomy, independence, comfort, security and safety. The application scenarios addressed by AAL are complex, due to the inherent heterogeneity of the end-user population, their living arrangements, and their physical conditions or impairment. Despite aiming at diverse goals, AAL systems should share some common characteristics. They are designed to provide support in daily life in an invisible, unobtrusive and user-friendly manner. Moreover, they are conceived to be intelligent, to be able to learn and adapt to the requirements and requests of the assisted people, and to synchronise with their specific needs. Nevertheless, to ensure the uptake of AAL in society, potential users must be willing to use AAL applications and to integrate them in their daily environments and lives. In this respect, video- and audio-based AAL applications have several advantages, in terms of unobtrusiveness and information richness. Indeed, cameras and microphones are far less obtrusive with respect to the hindrance other wearable sensors may cause to one’s activities. In addition, a single camera placed in a room can record most of the activities performed in the room, thus replacing many other non-visual sensors. Currently, video-based applications are effective in recognising and monitoring the activities, the movements, and the overall conditions of the assisted individuals as well as to assess their vital parameters (e.g., heart rate, respiratory rate). Similarly, audio sensors have the potential to become one of the most important modalities for interaction with AAL systems, as they can have a large range of sensing, do not require physical presence at a particular location and are physically intangible. Moreover, relevant information about individuals’ activities and health status can derive from processing audio signals (e.g., speech recordings). Nevertheless, as the other side of the coin, cameras and microphones are often perceived as the most intrusive technologies from the viewpoint of the privacy of the monitored individuals. This is due to the richness of the information these technologies convey and the intimate setting where they may be deployed. Solutions able to ensure privacy preservation by context and by design, as well as to ensure high legal and ethical standards are in high demand. After the review of the current state of play and the discussion in GoodBrother, we may claim that the first solutions in this direction are starting to appear in the literature. A multidisciplinary 4 debate among experts and stakeholders is paving the way towards AAL ensuring ergonomics, usability, acceptance and privacy preservation. The DIANA, PAAL, and VisuAAL projects are examples of this fresh approach. This report provides the reader with a review of the most recent advances in audio- and video-based monitoring technologies for AAL. It has been drafted as a collective effort of WG3 to supply an introduction to AAL, its evolution over time and its main functional and technological underpinnings. In this respect, the report contributes to the field with the outline of a new generation of ethical-aware AAL technologies and a proposal for a novel comprehensive taxonomy of AAL systems and applications. Moreover, the report allows non-technical readers to gather an overview of the main components of an AAL system and how these function and interact with the end-users. The report illustrates the state of the art of the most successful AAL applications and functions based on audio and video data, namely (i) lifelogging and self-monitoring, (ii) remote monitoring of vital signs, (iii) emotional state recognition, (iv) food intake monitoring, activity and behaviour recognition, (v) activity and personal assistance, (vi) gesture recognition, (vii) fall detection and prevention, (viii) mobility assessment and frailty recognition, and (ix) cognitive and motor rehabilitation. For these application scenarios, the report illustrates the state of play in terms of scientific advances, available products and research project. The open challenges are also highlighted. The report ends with an overview of the challenges, the hindrances and the opportunities posed by the uptake in real world settings of AAL technologies. In this respect, the report illustrates the current procedural and technological approaches to cope with acceptability, usability and trust in the AAL technology, by surveying strategies and approaches to co-design, to privacy preservation in video and audio data, to transparency and explainability in data processing, and to data transmission and communication. User acceptance and ethical considerations are also debated. Finally, the potentials coming from the silver economy are overviewed.publishedVersio