ReFabricator: Integrating Everyday Objects for Digital Fabrication
Interactivity Demos
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Yamada, Suguru
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Morishige, Hironao
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Nozaki, Hiroki
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Ogawa, Masaki
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Yonezawa, Takuro
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Tokuda, Hideyuki
Extended Abstracts of the ACM CHI'16 Conference on Human Factors in
Computing Systems
2016-05-07
v.2
p.3804-3807
© Copyright 2016 ACM
Summary: Since current digital fabrication relies on 3D printer very much, there are
several concerns such as printing cost (i.e., both financial and temporal cost)
and sometimes too homogeneous impression with plastic filament. To address and
solve the problem, we propose ReFabricator, a computational fabrication tool
integrating everyday objects into digital fabrication. ReFabrication is a
concept of fabrication, mixing the idea of Reuse and Digital Fabrication, which
aims to fabricate new functional shape with ready made products, effectively
utilizing its behavior. As a system prototype, we have implemented a design
tool which enables users to gather up every day objects and reassemble them to
another functional shape with taking advantages of both analog and digital
fabrication. In particular, the system calculates the optimized positional
relationship among objects, and generates joint objects to bond the objects
together in order to achieve a certain shape.
Effects of Agent Appearance on Customer Buying Motivations on Online
Shopping Sites
WIP Theme: AI and HCI
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Terada, Kazunori
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Jing, Liang
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Yamada, Seiji
Extended Abstracts of the ACM CHI'15 Conference on Human Factors in
Computing Systems
2015-04-18
v.2
p.929-934
© Copyright 2015 ACM
Summary: Although product recommendation virtual agents (PRVAs) are used in a large
number of online shopping websites, the optimal types of agents in this context
remain unclear. In the present study, we tested whether agent appearance
affects people's buying motivations and analyzed the key factors in persuading
people to buy products. The experimental results confirmed that recommendation
effects vary according to agent appearance. Furthermore, we obtained a partial
order ranking of the agent types, representing the effectiveness of their
recommendations. The factor analysis results indicated that the perceptions of
familiarity and intelligence in relation to appearance are the key factors in
persuading people to buy products.
Is Interpretation of Artificial Subtle Expressions Language-Independent?:
Comparison among Japanese, German, Portuguese, and Mandarin Chinese
WIP Theme: Users and UI Design
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Komatsu, Takanori
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Prada, Rui
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Kobayashi, Kazuki
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Yamada, Seiji
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Funakoshi, Kotaro
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Nakano, Mikio
Extended Abstracts of the ACM CHI'15 Conference on Human Factors in
Computing Systems
2015-04-18
v.2
p.2175-2180
© Copyright 2015 ACM
Summary: Up until now, several studies have shown that a speech interface system
giving verbal suggestions with beeping sounds that decrease in pitch conveyed a
low system confidence level to users intuitively, and these beeping sounds were
named "artificial subtle expressions" (ASEs). However, all participants in
these studies were only Japanese, so if the participants' mother tongue has
different sensitivity to variations in pitch compared with Japanese, the
interpretations of the ASEs might be different. We then investigated whether
the ASEs are interpreted in the same way as with Japanese regardless of the
users' mother tongues; specifically we focused on three language categories in
traditional phonological typology. We conducted a web-based experiment to
investigate whether the ways speakers of German, Portuguese (stress accent
language), Mandarin Chinese (tone language) and Japanese (pitch accent
language) interpret the ASEs are different or not. The results of this
experiment showed that the ways of interpreting did not differ, so this
suggests that these ways are language-independent.
Why Do Children Abuse Robots?
Late-Breaking Reports -- Session 2
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Nomura, Tatsuya
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Uratani, Takayuki
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Kanda, Takayuki
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Matsumoto, Kazutaka
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Kidokoro, Hiroyuki
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Suehiro, Yoshitaka
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Yamada, Sachie
Extended Abstracts of the 2015 ACM/IEEE International Conference on
Human-Robot Interaction
2015-03-02
v.2
p.63-64
© Copyright 2015 ACM
Summary: We found that children sometimes abuse a social robot in a hallway of a
shopping mall. They spoke bad words, repeatedly obstructed the robot's path,
and sometimes even kicked and punched the robot. To investigate why they abused
it, we conducted a field study, in which we let visiting children freely
interact with the robot, and interviewed when they engaged in a serious abusive
behavior including physical contacts. In total, we obtained valid interviews
from twenty-three children over 13 days of observations. They are aged between
five and nine. Adults and older children were rarely involved. We interviewed
them to know whether they perceived the robot as human-like others, why they
abused it, and whether they thought that the robot would suffer from their
abusive behavior. We found that 1) the majority of the children abused because
they were curious about the robot's reactions or enjoyed abusing it while
considering it as human-like, and 2) about half of the children believed in the
capability of the robot to perceive their abusive behaviors.
Augmenting expressivity of artificial subtle expressions (ASEs): preliminary
design guideline for ASEs
7. Driving
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Komatsu, Takanori
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Kobayashi, Kazuki
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Yamada, Seiji
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Funakoshi, Kotaro
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Nakano, Mikio
Proceedings of the 2014 Augmented Human International Conference
2014-03-07
p.38
© Copyright 2014 ACM
Summary: Unfortunately, there is little hope that information-providing systems will
ever be perfectly reliable. The results of some studies have indicated that
imperfect systems can reduce the users' cognitive load in interacting with them
by expressing their level of confidence to users. Artificial subtle expressions
(ASEs), which are machine-like artificial sounds to express the confidence
information to users added just after the system's suggestions, were keenly
focused on because of their simplicity and efficiency. The purpose of the work
reported here was to develop a preliminary design guideline for ASEs in order
to determine the expandability of ASEs. We believe that augmenting the
expressivity of ASEs would lead reducing the users' cognitive load for
processing the information provided from the systems, and this would also lead
augmenting users' various cognitive capacities. Our experimental results showed
that ASEs with decreasing pitch conveyed a low confidence level to users. This
result were used to formulate a concrete design guideline for ASEs.
Shape changing device for notification
Adjunct 4: posters
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Kobayashi, Kazuki
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Yamada, Seiji
Adjunct Proceedings of the 2013 ACM Symposium on User Interface Software and
Technology
2013-10-08
v.2
p.71-72
© Copyright 2013 ACM
Summary: In this paper, we describe a notification method with peripheral cognition
technology that uses a human cognitive characteristic. The method achieves
notification without interrupting users' primary tasks. We developed a shape
changing device that change its shape to notify the arrival of information.
Such behavior enables a user to easily find and accept notifications without
interruption when their attention on the primary task decreases. The result of
an experiment showed that the successful notification rate was 45.5%.
Expressing a robot's confidence with motion-based artificial subtle
expressions
Emotions
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Yamada, Seiji
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Terada, Kazunori
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Kobayashi, Kazuki
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Komatsu, Takanori
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Funakoshi, Kotaro
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Nakano, Mikio
Extended Abstracts of ACM CHI'13 Conference on Human Factors in Computing
Systems
2013-04-27
v.2
p.1023-1028
© Copyright 2013 ACM
Summary: In this paper, motion-based Artificial Subtle Expression (ASE) as a novel
implementation of ASE is described, in which a robot expresses confidence in
its advice to a human. Confidence in advice is one of robot's useful internal
states, and it is an important goal to develop a practical and inexpensive
methodology to correctly express it. To achieve this goal, we propose
motion-based ASE in which a robot slowly hesitates by turning to a human before
giving advice with low confidence. We conducted experiments to evaluate the
effectiveness of motion-based ASE with participants, and obtained promising
results.
Peripheral agent: implementation of peripheral cognition technology
UI design
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Yamada, Seiji
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Mori, Naoki
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Kobayashi, Kazuki
Extended Abstracts of ACM CHI'13 Conference on Human Factors in Computing
Systems
2013-04-27
v.2
p.1701-1706
© Copyright 2013 ACM
Summary: Information notification on a display for e-mail arrival, micro-blog
updates, and application updates is becoming increasingly important. We propose
a novel information notification method, the peripheral agent (PA) as an
implementation of peripheral cognition technology (PCT) that uses the human
cognitive properties that a human does not recognize subtle changes in a
peripheral area of cognition when he/she concentrates on a task and that he/she
automatically recognizes the changes when not concentrating on the task. By
only setting a PA in the peripheral area, a user automatically and easily
accepts the notification only when his/her concentration breaks. We conducted
two experiments to investigate a VFN area and evaluate the effectiveness of
PAs.
Estimating user interruptibility by measuring table-top pressure
UI design
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Tani, Takahisa
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Yamada, Seiji
Extended Abstracts of ACM CHI'13 Conference on Human Factors in Computing
Systems
2013-04-27
v.2
p.1707-1712
© Copyright 2013 ACM
Summary: A user working with his/her desktop computer would benefit from
notifications (e.g., the arrival of e-mail, micro-blogs, and application
updates) being given at adequate times when he/she is interruptible. To do so,
a notification system needs to determine the user's state of activity. In this
paper, we propose a novel method for estimating user states with a pressure
sensor on a desk. We use a lattice-like pressure sensor sheet and distinguish
between two simple user states: interruptible or not. The pressure can be
measured without the user being aware of it, and changes in the pressure
reflect useful information such as typing, an arm resting on the desk, mouse
operation, and so on. We carefully developed features that can be extracted
from the sensed raw data, and we used a machine learning technique to identify
the user's interruptibility. We conducted experiments for two different tasks
to evaluate the accuracy of our proposed method and obtained promising results.
Experimental investigation of human adaptation to change in agent's strategy
through a competitive two-player game
Understanding gamers
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Terada, Kazunori
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Yamada, Seiji
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Ito, Akira
Proceedings of ACM CHI 2012 Conference on Human Factors in Computing Systems
2012-05-05
v.1
p.2807-2810
© Copyright 2012 ACM
Summary: We conducted an experimental investigation on human adaptation to change in
an agent's strategy through a competitive two-player game. Modeling the process
of human adaptation to agents is important for designing intelligent interface
agents and adaptive user interfaces that learn a user's preferences and
behavior strategy. However, few studies on human adaptation to such an agent
have been done. We propose a human adaptation model for a two-player game. We
prepared an on-line experimental system in which a participant and an agent
play a repeated penny-matching game with a bonus round. We then conducted
experiments in which different opponent agents (human or robot) change their
strategy during the game. The experimental results indicated that, as expected,
there is an adaptation phase when a human is confronted with a change in the
opponent agent's strategy, and adaptation is faster when a human is competing
with robot than with another human.
Can users live with overconfident or unconfident systems?: a comparison of
artificial subtle expressions with human-like expression
Work-in-progress
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Komatsu, Takanori
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Kobayashi, Kazuki
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Yamada, Seiji
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Funakoshi, Kotaro
/
Nakano, Mikio
Extended Abstracts of ACM CHI'12 Conference on Human Factors in Computing
Systems
2012-05-05
v.2
p.1595-1600
© Copyright 2012 ACM
Summary: We assume that expressing the levels of confidence using human-like
expressions will cause users to have a poorer impression of a system than if
artificial subtle expressions (ASEs) were used when the quality of the
presented information does not match the expressed level of confidence. We
confirmed that this assumption was correct by conducting a psychological
experiment.
Reminiscence Park Interface: personal spaces to listen to songs with
memories and diffusions and overlaps of their spaces
Multi-surface
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Myojin, Seiko
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Shimizu, Masumi
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Nakatani, Mie
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Yamada, Shuhei
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Kato, Hirokazu
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Nishida, Shogo
Proceedings of the 2011 ACM International Conference on Interactive
Tabletops and Surfaces
2011-11-13
p.248-249
© Copyright 2011 ACM
Summary: We propose Reminiscence Park Interface. This interface gives the personal
spaces for listening to the favorite songs by using the original music boxes.
And our interface also visualizes the diffusions and the overlaps of the users'
spaces by computer graphics on the original resonance table. The users can
enjoy listening to their favorite songs alone or with somebody.
Effects of different types of artifacts on interpretations of artificial
subtle expressions (ASEs)
Works-in-progress
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Komatsu, Takanori
/
Yamada, Seiji
/
Kobayashi, Kazuki
/
Funakoshi, Kotaro
/
Nakano, Mikio
Proceedings of ACM CHI 2011 Conference on Human Factors in Computing Systems
2011-05-07
v.2
p.1249-1254
© Copyright 2011 ACM
Summary: So far, we already confirmed that the artificial subtle expressions (ASEs)
from a robot could convey its internal states to participants accurately and
intuitively. In this paper, we investigated whether the ASEs from an on-screen
artifact could also convey the artifact's internal states to participants in
order to confirm whether the ASEs can be interpreted consistently for various
types of artifacts. The results clearly showed that the ASEs' interpretations
from on-screen artifact were consistent with the ones from robotic agent.
Exploring influences of robot anxiety into HRI
Late-breaking reports/poster session
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Nomura, Tatsuya
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Kanda, Takayuki
/
Yamada, Sachie
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Suzuki, Tomohiro
Proceedings of the 6th International Conference on Human-Robot Interaction
2011-03-06
p.213-214
© Copyright 2011 ACM
Between real-world and virtual agents: the disembodied robot
Late-breaking reports/poster session
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Voisin, Thibault
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Osawa, Hirotaka
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Yamada, Seiji
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Imai, Michita
Proceedings of the 6th International Conference on Human-Robot Interaction
2011-03-06
p.281-282
© Copyright 2011 ACM
Summary: In this study, we propose a disembodied real-world agent and the study of
the influence of this disembodiment on the social separation between the user
and the agent. In order to give a clue to the user about the presence of the
robot and to make possible a visual feedback, we decide to use independent
robotic body parts that mimic human hands and eyes. This robot is also able to
share real-world space with the user, and react to his presence, through 3d
detection and oral communication. Thus, we can obtain an agent with an
important presence while keeping good space efficiency, and as a result ban any
existing social barrier.
Who explains it?: avoiding the feeling of third-person helpers in auditory
instruction for older people
Video session
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Osawa, Hirotaka
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Orszulak, Jarrod
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Godfrey, Kathryn M.
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Yamada, Seiji
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Coughlin, Joseph F.
Proceedings of the 6th International Conference on Human-Robot Interaction
2011-03-06
p.409-410
© Copyright 2011 ACM
Summary: Auditory instruction is a well used method for people of all ages because of
its understandability. However the additional voice has the possibility to
disturb the user's learning during the instruction because it strongly implies
the support of third-person helpers. This risk increases with older people
because their confidence in their ability may decline compared to the younger
people. The authors propose a method to anthropomorphize an instructed target
(a vacuum) to decrease the feeling of a third person during instruction. The
authors conducted the experiment using our method to explain features of
household appliance and evaluated the relationship between recalled features
and older people's internal scale. The results show that older people
remembered more features by using our method, and with female participants,
their internal scales increased during the training. This demonstrates that our
method can decrease the third-person feeling in female participants and
increase the amount learned. Our findings suggest that auditory instructions
may be an effective learning method for older adults.
How Does the Agents' Appearance Affect Users' Interpretation of the Agents'
Attitudes: Experimental Investigation on Expressing the Same Artificial Sounds
From Agents With Different Appearances
/
Komatsu, Takanori
/
Yamada, Seiji
International Journal of Human-Computer Interaction
2011-02-08
v.27
n.3
p.260-279
© Copyright 2011 Taylor and Francis
Summary: An experimental investigation into how the appearance of an agent such as a
robot or PC affects people's interpretations of the agent's attitudes is
presented. In general, people are said to create stereotypical agent behavioral
models in their minds based on the agents' appearances, and these appearances
significantly affect their way of interaction. Therefore, it is quite important
to address with the following research question: How does an agent's appearance
affect its interactions with people? Specifically, a preliminary experiment was
conducted to select eight artificial sounds for which people can estimate two
specific primitive attitudes (e.g., positive or negative). Then an experiment
was conducted where the participants were presented with the selected
artificial sounds through three kinds of agents: a MindStorms robot, AIBO
robot, and laptop PC. In particular, the participants were asked to select the
correct attitudes based on the sounds expressed by these three agents. The
results showed that the participants had better interpretation rates when a PC
presented the sounds and lower rates when the MindStorms and AIBO robots
presented the sounds, even though the sounds expressed by these agents were the
same. The results of this study contribute to the design policy of the
interactive agents, such as, What types of appearances should agents have to
effectively interact with people, and which kinds of information should these
agents express to people?
An Ultrasonic Blind Guidance System for Street Crossings
Blind and Partially Sighted People: Mobility and Interaction without Sight
/
Hashino, Satoshi
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Yamada, Sho
ICCHP'10: International Conference on Computers Helping People with Special
Needs
2010-07-14
v.2
p.235-238
Keywords: guidance system; ultrasonic sensor; cross-correlation
© Copyright 2010 Springer-Verlag
Summary: This paper addresses the technical feasibility of a guidance system based on
ultrasonic sensors to aid visually impaired people to cross a road easily and
safely. A computer processes ultrasonic signals emitted by a transmitter, which
is carried by the impaired user, and provides real-time information on the
direction and distance to keep user on the correct track. Instead of time of
flight, the system estimates user position by the order of received ultrasonic
signals at multiple receivers. Experimental results are presented to discuss
feasibility of this method.
How do users interact with a pet-robot and a humanoid
Work-in-progress, April 12-13
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Austermann, Anja
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Yamada, Seiji
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Funakoshi, Kotaro
/
Nakano, Mikio
Proceedings of ACM CHI 2010 Conference on Human Factors in Computing Systems
2010-04-10
v.2
p.3727-3732
Keywords: aibo, asimo, human-robot interaction, robots, user studies
© Copyright 2010 ACM
Summary: In this paper, we compare users' interaction with the humanoid robot ASIMO
and the dog-shaped robot AIBO. We conducted a user study in which the
participants had to teach object names and simple commands and give feedback to
either AIBO or ASIMO. We did not find significant differences in the users'
evaluation of both robots and in the way commands were given to the two
different robots. However, the way of giving positive and negative feedback
differed significantly: We found that for the pet-robot AIBO users tend to give
reward in a similar way as giving reward to a real dog by touching it and
commenting on its performance by uttering feedback like "well done" or "that
was right". For the humanoid ASIMO, users did not use touch as a reward and
rather used personal expressions like "thank you" to give positive feedback to
the robot.
Artificial subtle expressions: intuitive notification methodology of
artifacts
Subtle expressions through sound and text
/
Komatsu, Takanori
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Yamada, Seiji
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Kobayashi, Kazuki
/
Funakoshi, Kotaro
/
Nakano, Mikio
Proceedings of ACM CHI 2010 Conference on Human Factors in Computing Systems
2010-04-10
v.1
p.1941-1944
Keywords: accurate, artificial subtle expressions (ases), complementary, intuitive,
simple
© Copyright 2010 ACM
Summary: We describe artificial subtle expressions (ASEs) as intuitive notification
methodology for artifacts' internal states for users. We prepared two types of
audio ASEs; one was a flat artificial sound (flat ASE), and the other was a
sound that decreased in pitch (decreasing ASE). These two ASEs were played
after a robot made a suggestion to the users. Specifically, we expected that
the decreasing ASE would inform users of the robot's lower level of confidence
about the suggestions. We then conducted a simple experiment to observe whether
the participants accepted or rejected the robot's suggestion in terms of the
ASEs. The results showed that they accepted the robot's suggestion when the
flat ASE was used, whereas they rejected it when the decreasing ASE was used.
Therefore, we found that the ASEs succeeded in conveying the robot's internal
state to the users accurately and intuitively.
Similarities and differences in users' interaction with a humanoid and a pet
robot
Late-breaking abstracts session/poster session 1
/
Austermann, Anja
/
Yamada, Seiji
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Funakoshi, Kotaro
/
Nakano, Mikio
Proceedings of the 5th ACM/IEEE International Conference on Human Robot
Interaction
2010-03-02
p.73-74
Keywords: human-robot interaction, humanoid, user study
© Copyright 2010 ACM
Summary: In this paper, we compare user behavior towards the humanoid robot ASIMO and
the dog-shaped robot AIBO in a simple task, in which the users has to teach
commands and feedback to the robot.
A biologically inspired approach to learning multimodal commands and
feedback for human-robot interaction
Spotlight on work in progress session 1
/
Austermann, Anja
/
Yamada, Seiji
Proceedings of ACM CHI 2009 Conference on Human Factors in Computing Systems
2009-04-04
v.2
p.3553-3558
Keywords: human-robot-interaction, machine learning, multimodality, speech perception,
user feedback
© Copyright 2009 ACM
Summary: In this paper we describe a method to enable a robot to learn how a user
gives commands and feedback to it by speech, prosody and touch. We propose a
biologically inspired approach based on human associative learning. In the
first stage, which corresponds to the stimulus encoding in natural learning, we
use unsupervised training of HMMs to model the incoming stimuli. In the second
stage, the associative learning, these models are associated with a meaning
using an implementation of classical conditioning. Top-down processing is
applied to take into account the context as a bias for the stimulus encoding.
In an experimental study we evaluated the learning of user feedback with our
learning method using special training tasks, which allow the robot to explore
and provoke situated feedback from the user. In this first study, the robot
learned to discriminate between positive and negative feedback with an average
accuracy of 95.97%.
Influences of concerns toward emotional interaction into social
acceptability of robots
HRI late-breaking abstracts
/
Nomura, Tatsuya
/
Kanda, Takayuki
/
Suzuki, Tomohiro
/
Yamada, Sachie
/
Kato, Kensuke
Proceedings of the 4th ACM/IEEE International Conference on Human-Robot
Interaction
2009-03-09
p.231-232
Keywords: human-robot interaction, negative attitudes, social acceptance
© Copyright 2009 ACM
Smoothing human-robot speech interactions by using a blinking-light as
subtle expression
Multimodal systems II (poster session)
/
Funakoshi, Kotaro
/
Kobayashi, Kazuki
/
Nakano, Mikio
/
Yamada, Seiji
/
Kitamura, Yasuhiko
/
Tsujino, Hiroshi
Proceedings of the 2008 International Conference on Multimodal Interfaces
2008-10-20
p.293-296
Keywords: human-robot interaction, speech overlap, subtle expression, turn-taking
© Copyright 2008 ACM
Summary: Speech overlaps, undesired collisions of utterances between systems and
users, harm smooth communication and degrade the usability of systems. We
propose a method to enable smooth speech interactions between a user and a
robot, which enables subtle expressions by the robot in the form of a blinking
LED attached to its chest. In concrete terms, we show that, by blinking an LED
from the end of the user's speech until the robot's speech, the number of
undesirable repetitions, which are responsible for speech overlaps, decreases,
while that of desirable repetitions increases. In experiments, participants
played a last-and-first game with the robot. The experimental results suggest
that the blinking-light can prevent speech overlaps between a user and a robot,
speed up dialogues, and improve user's impressions.
Genetic algorithm can optimize hierarchical menus
Menu and Command Selection
/
Matsui, Shouichi
/
Yamada, Seiji
Proceedings of ACM CHI 2008 Conference on Human Factors in Computing Systems
2008-04-05
v.1
p.1385-1388
© Copyright 2008 ACM
Summary: Hierarchical menus are now ubiquitous. The performance of the menu depends
on many factors: structure, layout, colors and so on. There has been extensive
research on novel menus, but there has been little work on improving the
performance by optimizing the menu's structure. This paper proposes an
algorithm based on the genetic algorithm (GA) for optimizing the performance of
menus. The algorithm aims to minimize the average selection time of menu items
by considering movement and decision time. We show results on a static
hierarchical menu of a cellular phone where a small screen and limited input
device are assumed. Our work makes several contributions: a novel mathematical
optimization model for hierarchical menus; novel optimization method based on
the genetic algorithm (GA).
