A Review of Verbal and Non-Verbal Human-Robot Interactive Communication

In this paper, an overview of human-robot interactive communication is presented, covering verbal as well as non-verbal aspects of human-robot interaction. Following a historical introduction, and motivation towards fluid human-robot communication, ten desiderata are proposed, which provide an organizational axis both of recent as well as of future research on human-robot communication. Then, the ten desiderata are examined in detail, culminating to a unifying discussion, and a forward-looking conclusion

Development of Automatic Speech Recognition Techniques for Elderly Home Support: Applications and Challenges

International audienceVocal command may have considerable advantages in terms of usability in the AAL domain. However, efficient audio analysis in smart home environment is a challenging task in large part because of bad speech recognition results in the case of elderly people. Dedicated speech corpora were recorded and employed to adapted generic speech recog-nizers to this type of population. Evaluation results of a first experiment allowed to draw conclusions about the distress call detection. A second experiments involved participants who played fall scenarios in a realistic smart home, 67% of the distress calls were detected online. These results show the difficulty of the task and serve as basis to discuss the stakes and the challenges of this promising technology for AAL

DeepASL: Enabling Ubiquitous and Non-Intrusive Word and Sentence-Level Sign Language Translation

There is an undeniable communication barrier between deaf people and people with normal hearing ability. Although innovations in sign language translation technology aim to tear down this communication barrier, the majority of existing sign language translation systems are either intrusive or constrained by resolution or ambient lighting conditions. Moreover, these existing systems can only perform single-sign ASL translation rather than sentence-level translation, making them much less useful in daily-life communication scenarios. In this work, we fill this critical gap by presenting DeepASL, a transformative deep learning-based sign language translation technology that enables ubiquitous and non-intrusive American Sign Language (ASL) translation at both word and sentence levels. DeepASL uses infrared light as its sensing mechanism to non-intrusively capture the ASL signs. It incorporates a novel hierarchical bidirectional deep recurrent neural network (HB-RNN) and a probabilistic framework based on Connectionist Temporal Classification (CTC) for word-level and sentence-level ASL translation respectively. To evaluate its performance, we have collected 7,306 samples from 11 participants, covering 56 commonly used ASL words and 100 ASL sentences. DeepASL achieves an average 94.5% word-level translation accuracy and an average 8.2% word error rate on translating unseen ASL sentences. Given its promising performance, we believe DeepASL represents a significant step towards breaking the communication barrier between deaf people and hearing majority, and thus has the significant potential to fundamentally change deaf people's lives

Ambient awareness on a sidewalk for visually impaired

Safe navigation by avoiding obstacles is vital for visually impaired while walking on a sidewalk. There are both static and dynamic obstacles to avoid. Detection, monitoring, and estimating the threat posed by obstacles remain challenging. Also, it is imperative that the design of the system must be energy efficient and low cost. An additional challenge in designing an interactive system capable of providing useful feedback is to minimize users\u27 cognitive load. We started the development of the prototype system through classifying obstacles and providing feedback. To overcome the limitations of the classification-based system, we adopted the image annotation framework in describing the scene, which may or may not include the obstacles. Both solutions partially solved the safe navigation but were found to be ineffective in providing meaningful feedback and issues with the diurnal cycle. To address such limitations, we introduce the notion of free-path and threat level imposed by the static or dynamic obstacles. This solution reduced the overhead of obstacle detection and helped in designing meaningful feedback. Affording users a natural conversation through an interactive dialog enabled interface was found to promote safer navigation. In this dissertation, we modeled the free-path and threat level using a reinforcement learning (RL) framework.We built the RL model in the Gazebo robot simulation environment and implanted that in a handheld device. A natural conversation model was created using data collected through a Wizard of OZ approach. The RL model and conversational agent model together resulted in the handheld assistive device called Augmented Guiding Torch (AGT). The AGT provides improved mobility over white cane by providing ambient awareness through natural conversation. It can inform the visually impaired about the obstacles which are helpful to be warned about ahead of time, e.g., construction site, scooter, crowd, car, bike, or big hole. Using the RL framework, the robot avoided over 95% obstacles. The visually impaired avoided over 85% obstacles with the help of AGT on a 500 feet U-shape sidewalk. Findings of this dissertation support the effectiveness of augmented guiding through RL for navigation and obstacle avoidance of visually impaired users

Understanding user state and preferences for robust spoken dialog systems and location-aware assistive technology

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science; and, (S.M. in Technology and Policy)--Massachusetts Institute of Technology, Engineering Systems Division, Technology and Policy Program, 2012.Cataloged from PDF version of thesis.Includes bibliographical references (p. 119-125).This research focuses on improving the performance of spoken dialog systems (SDS) in the domain of assistive technology for people with disabilities. Automatic speech recognition (ASR) has compelling potential applications as a means of enabling people with physical disabilities to enjoy greater levels of independence and participation. This thesis describes the development and evaluation of a spoken dialog system modeled as a partially observable Markov decision process (SDS-POMDP). The SDSPOMDP can understand commands related to making phone calls and providing information about weather, activities, and menus in a specialized-care residence setting. Labeled utterance data was used to train observation and utterance confidence models. With a user simulator, the SDS-POMDP reward function parameters were optimized, and the SDS-POMDP is shown to out-perform simpler threshold-based dialog strategies. These simulations were validated in experiments with human participants, with the SDS-POMDP resulting in more successful dialogs and faster dialog completion times, particularly for speakers with high word-error rates. This thesis also explores the social and ethical implications of deploying location based assistive technology in specialized-care settings. These technologies could have substantial potential benefit to residents and caregivers in such environments, but they may also raise issues related to user safety, independence, autonomy, or privacy. As one example, location-aware mobile devices are potentially useful to increase the safety of individuals in a specialized-care setting who may be at risk of unknowingly wandering, but they raise important questions about privacy and informed consent. This thesis provides a survey of U.S. legislation related to the participation of individuals who have questionable capacity to provide informed consent in research studies. Overall, it seeks to precisely describe and define the key issues that are arise as a result of new, unforeseen technologies that may have both benefits and costs to the elderly and people with disabilities.by William Li.S.M.in Technology and PolicyS.M