single-au.php

IJAT Vol.17 No.3 pp. 277-283
doi: 10.20965/ijat.2023.p0277
(2023)

Research Paper:

Inflatable Humanoid Cybernetic Avatar for Physical Human–Robot Interaction

Ryuma Niiyama*,† ORCID Icon, Masahiro Ikeda* ORCID Icon, and Young Ah Seong** ORCID Icon

*Graduate School of Science and Technology, Meiji University
1-1-1 Higashi-Mita, Tama-ku, Kawasaki-shi, Kanagawa 214-8571, Japan

Corresponding author

**Faculty of Engineering and Design, Hosei University
Tokyo, Japan

Received:
October 7, 2022
Accepted:
January 16, 2023
Published:
May 5, 2023
Keywords:
soft robotics, inflatable robot, cybernetic avatar, physical human–robot interaction (pHRI)
Abstract

In a digital twin, a humanoid robot can be the counterpart of a simulated agent in the real world. In addition, a human, virtual avatar, and avatar robot might constitute digital triplets. We propose an inflatable cybernetic avatar (CA) with a humanoid upper body using an inflatable structure that can represent gestures. This inflatable CA is much lighter, safer, and cheaper than conventional humanoid robots and can be folded when deflated. These properties are ideal for physical human–robot interaction (pHRI) and allow real-time collection of human behavior through interaction. In the experiment, basic movements such as nodding and raising arms were measured using motion capture systems. This paper demonstrates the proposed inflatable CA in a hybrid event. We also conducted an experiment to measure the touch interactions using tactile sensors attached to the fabric of the inflatable part. A psychologically secure inflatable humanoid CA is a promising platform for physical interaction experiments.

Cite this article as:
R. Niiyama, M. Ikeda, and Y. Seong, “Inflatable Humanoid Cybernetic Avatar for Physical Human–Robot Interaction,” Int. J. Automation Technol., Vol.17 No.3, pp. 277-283, 2023.
Data files:
References
  1. [1] K. Hoshino, N. Igo, M. Tomida, and H. Kotani, “Teleoperating System for Manipulating a Moon Exploring Robot on the Earth,” Int. J. Automation Technol., Vol.11, No.3, pp. 433-441, 2017.
  2. [2] H. Tezuka, N. Katafuchi, Y. Nakamura, T. Machino, Y. Nanjo, S. Iwaki, and K. Shimokura, “Robot Platform Architecture for Information Sharing and Collaboration Among Multiple Networked Robots,” J. Robot. Mechatron., Vol.18, No.3, pp. 325-332, 2006.
  3. [3] H. O. Khadri, “University academics’ perceptions regarding the future use of telepresence robots to enhance virtual transnational education: an exploratory investigation in a developing country,” Smart Learning Environments, Vol.8, No.1, 28, 2021.
  4. [4] S. Tachi, “Telexistence: Enabling Humans to Be Virtually Ubiquitous,” IEEE Computer Graphics and Applications, Vol.36, No.1, pp. 8-14, 2016.
  5. [5] C. L. Fernando, M. Furukawa, T. Kurogi, S. Kamuro, K. Sato, K. Minamizawa, and S. Tachi, “Design of TELESAR V for transferring bodily consciousness in telexistence,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 5112-5118, 2012.
  6. [6] J. Krüger, G. Schreck, and D. Surdilovic, “Dual arm robot for flexible and cooperative assembly,” CIRP Annals, Vol.60, No.1, pp. 5-8, 2011.
  7. [7] B. Wang, H. Zhou, G. Yang, X. Li, and H. Yang, “Human Digital Twin (HDT) Driven Human-Cyber-Physical Systems: Key Technologies and Applications,” Chinese J. of Mechanical Engineering, Vol.35, No.1, 11, 2022.
  8. [8] T. Tamei, T. Matsubara, A. Rai, and T. Shibata, “Reinforcement learning of clothing assistance with a dual-arm robot,” IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pp. 733-738, 2011.
  9. [9] T. Inamura, Y. Mizuchi, and H. Yamada, “VR platform enabling crowdsourcing of embodied HRI experiments – case study of online robot competition,” Vol.35, No.11, pp. 697-703, 2021.
  10. [10] A. E. Block, H. Seifi, O. Hilliges, R. Gassert, and K. J. Kuchenbecker, “In the Arms of a Robot: Designing Autonomous Hugging Robots with Intra-Hug Gestures,” J. Human-Robot Interaction, pp. 37-42, 2022.
  11. [11] A. E. Block and K. J. Kuchenbecker, “Softness, Warmth, and Responsiveness Improve Robot Hugs,” Int. J. of Social Robotics, Vol.11, No.1, pp. 49-64, 2019.
  12. [12] S. Higuchi and H. Oku, “Wide angular range dynamic projection mapping method applied to drone-based avatar robot,” Advanced Robotics, Vol.35, No.11, pp. 675-684, 2021.
  13. [13] R. Niiyama, H. Sato, K. Tsujimura, K. Narumi, Y. A. Seong, R. Yamamura, Y. Kakehi, and Y. Kawahara, “Poimo: Portable and Inflatable Mobility Devices Customizable for Personal Physical Characteristics,” Annual ACM Symp. on User Interface Software and Technology (UIST), pp. 912-923, 2020.
  14. [14] S. Sanan, M. H. Ornstein, and C. G. Atkeson, “Physical human interaction for an inflatable manipulator,” Int. Conf. the IEEE Engineering in Medicine and Biology Society (EMBS), pp. 7401-7404, 2011.
  15. [15] A. Alspach, J. Kim, and K. Yamane, “Design and fabrication of a soft robotic hand and arm system,” IEEE Int. Conf. on Soft Robotics (RoboSoft), pp. 369-375, 2018.
  16. [16] F. Garzotto, M. Gelsomini, and Y. Kinoe, “Puffy: A Mobile Inflatable Interactive Companion for Children with Neurodevelopmental Disorder,” Human-Computer Interaction – INTERACT 2017, pp. 467-492, 2017.
  17. [17] J. Jaramillo, A. Lin, E. Sung, I. J. H. Richter, and K. Petersen, “Mobile, Inflatable Interface to Support Human Robot Interaction Studies,” Int. Conf. on Ubiquitous Robots (UR), pp. 320-325, 2021.
  18. [18] R. Qi, T. L. Lam, and Y. Xu, “Mechanical design and implementation of a soft inflatable robot arm for safe human-robot interaction,” IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 3490-3495, 2014.
  19. [19] J. M. Bern, K-H. Chang, and S. Coros, “Interactive Design of Animated Plushies,” ACM Trans. on Graphics, Vol.36, No.4, pp. 1-11, 2017.
  20. [20] Y. Takase, H. Mitake, Y. Yamashita, and S. Hasegawa, “Motion generation for the stuffed-toy robot,” Annual Conf. of the Society of Instrument and Control Engineers of Japan, pp. 213-217, 2013.
  21. [21] R. Niiyama, Y. A. Seong, Y. Kawahara, and Y. Kuniyoshi, “Blower-Powered Soft Inflatable Joints for Physical Human-Robot Interaction,” Frontiers in Robotics and AI, Vol.8, pp. 1-12, 2021.
  22. [22] H. Ishiguro, “The realisation of an avatar-symbiotic society where everyone can perform active roles without constraint,” Advanced Robotics, Vol.35, No.11, pp. 650-656, 2021.
  23. [23] Y. A. Seong, R. Niiyama, Y. Kawahara, and Y. Kuniyoshi, “Lowpressure soft inflatable joint driven by inner tendon,” 2nd IEEE Int. Conf. on Soft Robotics (RoboSoft), pp. 37-42, 2019.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Dec. 02, 2024