Systematic literature review of hand gestures used in human computer interaction interfaces

Gestures, widely accepted as a humans' natural mode of interaction with their surroundings, have been considered for use in human-computer based interfaces since the early 1980s. They have been explored and implemented, with a range of success and maturity levels, in a variety of fields, facilitated by a multitude of technologies. Underpinning gesture theory however focuses on gestures performed simultaneously with speech, and majority of gesture based interfaces are supported by other modes of interaction. This article reports the results of a systematic review undertaken to identify characteristics of touchless/in-air hand gestures used in interaction interfaces. 148 articles were reviewed reporting on gesture-based interaction interfaces, identified through searching engineering and science databases (Engineering Village, Pro Quest, Science Direct, Scopus and Web of Science). The goal of the review was to map the field of gesture-based interfaces, investigate the patterns in gesture use, and identify common combinations of gestures for different combinations of applications and technologies. From the review, the community seems disparate with little evidence of building upon prior work and a fundamental framework of gesture-based interaction is not evident. However, the findings can help inform future developments and provide valuable information about the benefits and drawbacks of different approaches. It was further found that the nature and appropriateness of gestures used was not a primary factor in gesture elicitation when designing gesture based systems, and that ease of technology implementation often took precedence

User-based gesture vocabulary for form creation during a product design process

There are inconsistencies between the nature of the conceptual design and the functionalities of the computational systems supporting it, which disrupt the designers’ process, focusing on technology rather than designers’ needs. A need for elicitation of hand gestures appropriate for the requirements of the conceptual design, rather than those arbitrarily chosen or focusing on ease of implementation was identified.The aim of this thesis is to identify natural and intuitive hand gestures for conceptual design, performed by designers (3rd, 4th year product design engineering students and recent graduates) working on their own, without instruction and without limitations imposed by the facilitating technology. This was done via a user centred study including 44 participants. 1785 gestures were collected. Gestures were explored as a sole mean for shape creation and manipulation in virtual 3D space. Gestures were identified, described in writing, sketched, coded based on the taxonomy used, categorised based on hand form and the path travelled and variants identified. Then they were statistically analysed to ascertain agreement rates between the participants, significance of the agreement and the likelihood of number of repetitions for each category occurring by chance. The most frequently used and statistically significant gestures formed the consensus set of vocabulary for conceptual design. The effect of the shape of the manipulated object on the gesture performed, and if the sequence of the gestures participants proposed was different from the established CAD solid modelling practices were also observed.Vocabulary was evaluated by non-designer participants, and the outcomes have shown that the majority of gestures were appropriate and easy to perform. Evaluation was performed theoretically and in the VR environment. Participants selected their preferred gestures for each activity, and a variant of the vocabulary for conceptual design was created as an outcome, that aims to ensure that extensive training is not required, extending the ability to design beyond trained designers only.There are inconsistencies between the nature of the conceptual design and the functionalities of the computational systems supporting it, which disrupt the designers’ process, focusing on technology rather than designers’ needs. A need for elicitation of hand gestures appropriate for the requirements of the conceptual design, rather than those arbitrarily chosen or focusing on ease of implementation was identified.The aim of this thesis is to identify natural and intuitive hand gestures for conceptual design, performed by designers (3rd, 4th year product design engineering students and recent graduates) working on their own, without instruction and without limitations imposed by the facilitating technology. This was done via a user centred study including 44 participants. 1785 gestures were collected. Gestures were explored as a sole mean for shape creation and manipulation in virtual 3D space. Gestures were identified, described in writing, sketched, coded based on the taxonomy used, categorised based on hand form and the path travelled and variants identified. Then they were statistically analysed to ascertain agreement rates between the participants, significance of the agreement and the likelihood of number of repetitions for each category occurring by chance. The most frequently used and statistically significant gestures formed the consensus set of vocabulary for conceptual design. The effect of the shape of the manipulated object on the gesture performed, and if the sequence of the gestures participants proposed was different from the established CAD solid modelling practices were also observed.Vocabulary was evaluated by non-designer participants, and the outcomes have shown that the majority of gestures were appropriate and easy to perform. Evaluation was performed theoretically and in the VR environment. Participants selected their preferred gestures for each activity, and a variant of the vocabulary for conceptual design was created as an outcome, that aims to ensure that extensive training is not required, extending the ability to design beyond trained designers only

Human-Robot Perception in Industrial Environments: A Survey

Perception capability assumes significant importance for human–robot interaction. The forthcoming industrial environments will require a high level of automation to be flexible and adaptive enough to comply with the increasingly faster and low-cost market demands. Autonomous and collaborative robots able to adapt to varying and dynamic conditions of the environment, including the presence of human beings, will have an ever-greater role in this context. However, if the robot is not aware of the human position and intention, a shared workspace between robots and humans may decrease productivity and lead to human safety issues. This paper presents a survey on sensory equipment useful for human detection and action recognition in industrial environments. An overview of different sensors and perception techniques is presented. Various types of robotic systems commonly used in industry, such as fixed-base manipulators, collaborative robots, mobile robots and mobile manipulators, are considered, analyzing the most useful sensors and methods to perceive and react to the presence of human operators in industrial cooperative and collaborative applications. The paper also introduces two proofs of concept, developed by the authors for future collaborative robotic applications that benefit from enhanced capabilities of human perception and interaction. The first one concerns fixed-base collaborative robots, and proposes a solution for human safety in tasks requiring human collision avoidance or moving obstacles detection. The second one proposes a collaborative behavior implementable upon autonomous mobile robots, pursuing assigned tasks within an industrial space shared with human operators

Artificial Vision Algorithms for Socially Assistive Robot Applications: A Review of the Literature

Today, computer vision algorithms are very important for different fields and applications, such as closed-circuit television security, health status monitoring, and recognizing a specific person or object and robotics. Regarding this topic, the present paper deals with a recent review of the literature on computer vision algorithms (recognition and tracking of faces, bodies, and objects) oriented towards socially assistive robot applications. The performance, frames per second (FPS) processing speed, and hardware implemented to run the algorithms are highlighted by comparing the available solutions. Moreover, this paper provides general information for researchers interested in knowing which vision algorithms are available, enabling them to select the one that is most suitable to include in their robotic system applicationsBeca Conacyt Doctorado No de CVU: 64683

Development and evaluation of an interactive virtual audience for a public speaking training application

Einleitung: Eine der häufigsten sozialen Ängste ist die Angst vor öffentlichem Sprechen. Virtual-Reality- (VR-) Trainingsanwendungen sind ein vielversprechendes Instrument, um die Sprechangst zu reduzieren und die individuellen Sprachfähigkeiten zu verbessern. Grundvoraussetzung hierfür ist die Implementierung eines realistischen und interaktiven Sprecher-Publikum-Verhaltens. Ziel: Die Studie zielte darauf ab, ein realistisches und interaktives Publikum für eine VR-Anwendung zu entwickeln und zu bewerten, welches für die Trainingsanwendung von öffentlichem Sprechen angewendet wird. Zunächst wurde eine Beobachtungsstudie zu den Verhaltensmustern von Sprecher und Publikum durchgeführt. Anschließend wurden die identifizierten Muster in eine VR-Anwendung implementiert. Die Wahrnehmung der implementierten Interaktionsmuster wurde in einer weiteren Studie aus Sicht der Nutzer evaluiert. Beobachtungsstudie (1): Aufgrund der nicht ausreichenden Datengrundlage zum realen interaktiven Verhalten zwischen Sprecher und Publikum lautet die erste Forschungsfrage "Welche Sprecher-Publikums-Interaktionsmuster können im realen Umfeld identifiziert werden?". Es wurde eine strukturierte, nicht teilnehmende, offene Beobachtungsstudie durchgeführt. Ein reales Publikum wurde auf Video aufgezeichnet und die Inhalte analysiert. Die Stichprobe ergab N = 6484 beobachtete Interaktionsmuster. Es wurde festgestellt, dass Sprecher mehr Dialoge als das Publikum initiieren und wie die Zuschauer auf Gesichtsausdrücke und Gesten der Sprecher reagieren. Implementierungsstudie (2): Um effiziente Wege zur Implementierung der Ergebnisse der Beobachtungsstudie in die Trainingsanwendung zu finden, wurde die Forschungsfrage wie folgt formuliert: "Wie können Interaktionsmuster zwischen Sprecher und Publikum in eine virtuelle Anwendung implementiert werden?". Das Hardware-Setup bestand aus einer CAVE, Infitec-Brille und einem ART Head-Tracking. Die Software wurde mit 3D-Excite RTT DeltaGen 12.2 realisiert. Zur Beantwortung der zweiten Forschungsfrage wurden mehrere mögliche technische Lösungen systematisch untersucht, bis effiziente Lösungen gefunden wurden. Infolgedessen wurden die selbst erstellte Audioerkennung, die Kinect-Bewegungserkennung, die Affectiva-Gesichtserkennung und die selbst erstellten Fragen implementiert, um das interaktive Verhalten des Publikums in der Trainingsanwendung für öffentliches Sprechen zu realisieren. Evaluationsstudie (3): Um herauszufinden, ob die Implementierung interaktiver Verhaltensmuster den Erwartungen der Benutzer entsprach, wurde die dritte Forschungsfrage folgendermaßen formuliert: “Wie beeinflusst die Interaktivität einer virtuellen Anwendung für öffentliches Reden die Benutzererfahrung?”. Eine experimentelle Benutzer-Querschnittsstudie wurde mit N = 57 Teilnehmerinnen (65% Männer, 35% Frauen; Durchschnittsalter = 25.98, SD = 4.68) durchgeführt, die entweder der interaktiven oder nicht-interaktiven VR-Anwendung zugewiesen wurden. Die Ergebnisse zeigten, dass, es einen signifikanten Unterschied in der Wahrnehmung zwischen den beiden Anwendungen gab. Allgemeine Schlussfolgerungen: Interaktionsmuster zwischen Sprecher und Publikum, die im wirklichen Leben beobachtet werden können, wurden in eine VR-Anwendung integriert, die Menschen dabei hilft, Angst vor dem öffentlichen Sprechen zu überwinden und ihre öffentlichen Sprechfähigkeiten zu trainieren. Die Ergebnisse zeigten eine hohe Relevanz der VR-Anwendungen für die Simulation öffentlichen Sprechens. Obwohl die Fragen des Publikums manuell gesteuert wurden, konnte das neu gestaltete Publikum mit den Versuchspersonen interagieren. Die vorgestellte VR-Anwendung zeigt daher einen hohen potenziellen Nutzen, Menschen beim Trainieren von Sprechfähigkeiten zu unterstützen. Die Fragen des Publikums wurden immer noch manuell von einem Bediener reguliert und die Studie wurde mit Teilnehmern durchgeführt, die nicht unter einem hohen Grad an Angst vor öffentlichem Sprechen leiden. Bei zukünftigen Studien sollten fortschrittlichere Technologien eingesetzt werden, beispielsweise Spracherkennung, 3D-Aufzeichnungen oder 3D-Livestreams einer realen Person und auch Teilnehmer mit einem hohen Grad an Angst vor öffentlichen Ansprachen beziehungsweise Sprechen in der Öffentlichkeit.Introduction: Fear of public speaking is the most common social fear. Virtual reality (VR) training applications are a promising tool to improve public speaking skills. To be successful, applications should feature a high scenario fidelity. One way to improve it is to implement realistic speaker-audience interactive behavior. Objective: The study aimed to develop and evaluate a realistic and interactive audience for a VR public speaking training application. First, an observation study on real speaker-audience interactive behavior patterns was conducted. Second, identified patterns were implemented in the VR application. Finally, an evaluation study identified users’ perceptions of the training application. Observation Study (1): Because of the lack of data on real speaker-audience interactive behavior, the first research question to be answered was “What speaker-audience interaction patterns can be identified in real life?”. A structured, non-participant, overt observation study was conducted. A real audience was video recorded, and content analyzed. The sample resulted in N = 6,484 observed interaction patterns. It was found that speakers, more often than audience members, initiate dialogues and how audience members react to speakers’ facial expressions and gestures. Implementation Study (2): To find efficient ways of implementing the results of the observation study in the training application, the second research question was formulated as: “How can speaker-audience interaction patterns be implemented into the virtual public speaking application?”. The hardware setup comprised a CAVE, Infitec glasses, and ART head tracking. The software was realized with 3D-Excite RTT DeltaGen 12.2. To answer the second research question, several possible technical solutions were explored systematically, until efficient solutions were found. As a result, self-created audio recognition, Kinect motion recognition, Affectiva facial recognition, and manual question generation were implemented to provide interactive audience behavior in the public speaking training application. Evaluation Study (3): To find out if implementing interactive behavior patterns met users’ expectations, the third research question was formulated as “How does interactivity of a virtual public speaking application affect user experience?”. An experimental, cross-sectional user study was conducted with (N = 57) participants (65% men, 35% women; Mage = 25.98, SD = 4.68) who used either an interactive or a non-interactive VR application condition. Results revealed that there was a significant difference in users’ perception of the two conditions. General Conclusions: Speaker-audience interaction patterns that can be observed in real life were incorporated into a VR application that helps people to overcome the fear of public speaking and train their public speaking skills. The findings showed a high relevance of interactivity for VR public speaking applications. Although questions from the audience were still regulated manually, the newly designed audience could interact with the speakers. Thus, the presented VR application is of potential value in helping people to train their public speaking skills. The questions from the audience were still regulated manually by an operator and we conducted the study with participants not suffering from high degrees of public speaking fear. Future work may use more advanced technology, such as speech recognition, 3D-records, or live 3D-streams of an actual person and include participants with high degrees of public speaking fear

Robot workspace sensing and control with Leap Motion Sensor

The present thesis deals with the design and testing of an appropriate software interface that allows a user to control a robot using a Leap Motion Sensor while defining and keeping a safe workspace for the robot to operate. The Leap Motion Sensor is a small device able to sense human hands above it and to keep track of them. Hence, when controlling the robot, the user will feel an interesting touch-free control experience. Distinct control modes, such as linear commandment, joint-by-joint control or specular imitation have been studied and implemented. The basis for a future teaching mode, where the robot could remember user actions and play them accordingly to fulfill a complex task has also been settled. At the same time, a precise definition of the workspace, creating a safe environment for both the robot and the user, and the contemplation on how to avoid undesired situations have been consciously considered.Outgoin

Safe navigation and human-robot interaction in assistant robotic applications

L'abstract è presente nell'allegato / the abstract is in the attachmen

Robots learn to behave: improving human-robot collaboration in flexible manufacturing applications

L'abstract è presente nell'allegato / the abstract is in the attachmen