FaceDrive: Facial Expression Driven Operation to Control Virtual Supernumerary Robotic Arms

Masaaki Fukuoka, Adrien Verhulst, Fumihiko Nakamura, Ryo Takizawa, Katsutoshi Masai, Maki Sugimoto

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Supernumerary Robotic Limbs (SRLs) can make physical activities easier, but require cooperation with the operator. To improve cooperation between the SRLs and the operator, the SRLs can try to predict the operator’s intentions. A way to predict the operator’s intentions is to use his/her Facial Expressions (FEs). Here we investigate the mapping between FEs and Supernumerary Robotic Arms (SRAs) commands (e.g. grab, release). To measure FEs, we used a optical sensor-based approach (here inside a HMD). The sensors data are fed to a SVM able to predict FEs. The SRAs can then carry out commands by predicting the operator’s FEs (and arguably, the operator’s intention). We ran a data collection study (N=10) to know which FEs assign to which robotic arm commands in a Virtual reality Environment (VE). We researched the mapping patterns by (1) performing an object reaching - grasping - releasing task using “any” FEs; (2) analyzing sensors data and a self-reported FE questionnaire to find the most common FEs used for a given command; (3) classifying the FEs in FEs groups. We then ran another study (N=14) to find the most effective combination of FEs groups / SRAs commands by recording task completion time. As a result, we found that the optimum combinations are: (i) Eyes + Mouth for grabbing / releasing; and (ii) Mouth for extending / contracting the arms (i.e. a along the forward axis).

本文言語English
ホスト出版物のタイトルICAT-EGVE 2019 - 29th International Conference on Artificial Reality and Telexistence and 24th Eurographics Symposium on Virtual Environments
編集者Yasuaki Kakehi, Atsushi Hiyama, Dieter W. Fellner, Werner Hansmann, Werner Purgathofer, Francois Sillion
出版社The Eurographics Association
ページ17-24
ページ数8
ISBN(電子版)9783038680833
DOI
出版ステータスPublished - 2019
イベント29th International Conference on Artificial Reality and Telexistence and 24th Eurographics Symposium on Virtual Environments, ICAT-EGVE 2019 - Tokyo, Japan
継続期間: 2019 9月 112019 9月 13

出版物シリーズ

名前ICAT-EGVE 2019 - 29th International Conference on Artificial Reality and Telexistence and 24th Eurographics Symposium on Virtual Environments

Conference

Conference29th International Conference on Artificial Reality and Telexistence and 24th Eurographics Symposium on Virtual Environments, ICAT-EGVE 2019
国/地域Japan
CityTokyo
Period19/9/1119/9/13

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用

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