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Telepresence Mechatronic Robot (TEBoT): Towards the design and control of socially interactive bio-inspired system
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (immersive interaction lab (i2lab))ORCID iD: 0000-0002-3037-4244
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2016 (English)In: Journal of Intelligent & Fuzzy Systems, ISSN 1064-1246, E-ISSN 1875-8967, Vol. 31, no 5, 2597-2610 p.Article in journal (Refereed) Published
Abstract [en]

Socially interactive systems are embodied agents that engage in social interactions with humans. From a design perspective, these systems are built by considering a biologically inspired design (Bio-inspired) that can mimic and simulate human-like communication cues and gestures. The design of a bio-inspired system usually consists of (i) studying biological characteristics, (ii) designing a similar biological robot, and (iii) motion planning, that can mimic the biological counterpart. In this article, we present a design, development, control-strategy and verification of our socially interactive bio-inspired robot, namely - Telepresence Mechatronic Robot (TEBoT). The key contribution of our work is an embodiment of a real human-neck movements by, i) designing a mechatronic platform based on the dynamics of a real human neck and ii) capturing the real head movements through our novel single-camera based vision algorithm. Our socially interactive bio-inspired system is based on an intuitive integration-design strategy that combines computer vision based geometric head pose estimation algorithm, model based design (MBD) approach and real-time motion planning techniques. We have conducted an extensive testing to demonstrate effectiveness and robustness of our proposed system.

Place, publisher, year, edition, pages
2016. Vol. 31, no 5, 2597-2610 p.
Keyword [en]
Socially interactive robot, biologically inspired robot, head pose estimation, vision based robot control, model based design, embodied telepresence system
National Category
Robotics Computer Vision and Robotics (Autonomous Systems) Interaction Technologies
Identifiers
URN: urn:nbn:se:umu:diva-108552DOI: 10.3233/JIFS-169100ISI: 000386532000015OAI: oai:DiVA.org:umu-108552DiVA: diva2:853543
Available from: 2015-09-14 Created: 2015-09-14 Last updated: 2017-12-04Bibliographically approved
In thesis
1. Enabling physical action in computer mediated communication: an embodied interaction approach
Open this publication in new window or tab >>Enabling physical action in computer mediated communication: an embodied interaction approach
2015 (English)Licentiate thesis, comprehensive summary (Other academic)
Place, publisher, year, edition, pages
Umeå: Department of Applied Physics and Electronics, Umeå University, 2015. 40 p.
Series
Digital Media Lab, ISSN 1652-6295 ; 20
Keyword
biologically inspired system, parallel robot, neck robot, head pose estimation, embodied interaction, telepresence system, quality of interaction, embodied telepresence system, Mona-Lisa gaze effect, eye-contact
National Category
Communication Systems Interaction Technologies
Identifiers
urn:nbn:se:umu:diva-108569 (URN)978-91-7601-321-2 (ISBN)
Supervisors
Available from: 2015-09-15 Created: 2015-09-14 Last updated: 2015-09-15Bibliographically approved
2. Presence through actions: theories, concepts, and implementations
Open this publication in new window or tab >>Presence through actions: theories, concepts, and implementations
2017 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

During face-to-face meetings, humans use multimodal information, including verbal information, visual information, body language, facial expressions, and other non-verbal gestures. In contrast, during computer-mediated-communication (CMC), humans rely either on mono-modal information such as text-only, voice-only, or video-only or on bi-modal information by using audiovisual modalities such as video teleconferencing. Psychologically, the difference between the two lies in the level of the subjective experience of presence, where people perceive a reduced feeling of presence in the case of CMC. Despite the current advancements in CMC, it is still far from face-to-face communication, especially in terms of the experience of presence.

This thesis aims to introduce new concepts, theories, and technologies for presence design where the core is actions for creating presence. Thus, the contribution of the thesis can be divided into a technical contribution and a knowledge contribution. Technically, this thesis details novel technologies for improving presence experience during mediated communication (video teleconferencing). The proposed technologies include action robots (including a telepresence mechatronic robot (TEBoT) and a face robot), embodied control techniques (head orientation modeling and virtual reality headset based collaboration), and face reconstruction/retrieval algorithms. The introduced technologies enable action possibilities and embodied interactions that improve the presence experience between the distantly located participants. The novel setups were put into real experimental scenarios, and the well-known social, spatial, and gaze related problems were analyzed.

The developed technologies and the results of the experiments led to the knowledge contribution of this thesis. In terms of knowledge contribution, this thesis presents a more general theoretical conceptual framework for mediated communication technologies. This conceptual framework can guide telepresence researchers toward the development of appropriate technologies for mediated communication applications. Furthermore, this thesis also presents a novel strong concept – presence through actions - that brings in philosophical understandings for developing presence- related technologies. The strong concept - presence through actions is an intermediate-level knowledge that proposes a new way of creating and developing future 'presence artifacts'. Presence- through actions is an action-oriented phenomenological approach to presence that differs from traditional immersive presence approaches that are based (implicitly) on rationalist, internalist views.

Place, publisher, year, edition, pages
Umeå: Umeå universitet, 2017. 172 p.
Series
Digital Media Lab, ISSN 1652-6295 ; 22
Keyword
Presence, Immersion, Computer mediated communication, Strong concept, Phenomenology, Philosophy, Biologically inspired system, Neck robot, Head pose estimation, Embodied interaction, Virtual reality headset, Social presence, Spatial presence, Face reconstruction/retrieval, Telepresence system, Quality of interaction, Embodied telepresence system, Mona-Lisa gaze effect, eye-contact
National Category
Electrical Engineering, Electronic Engineering, Information Engineering Computer Systems Communication Systems Signal Processing
Research subject
design; Computer Science; Computer Systems; Computerized Image Analysis
Identifiers
urn:nbn:se:umu:diva-138280 (URN)978-91-7601-730-2 (ISBN)
Public defence
2017-10-10, Triple Helix, Samverkanshuset, Umeå, 09:00 (English)
Opponent
Supervisors
Available from: 2017-08-21 Created: 2017-08-16 Last updated: 2017-09-26Bibliographically approved

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Khan, Muhammad Sikandar LalLi, Haibour Réhman, Shafiq
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