topauthor: Yamazaki_A* : Human-Computer Interaction Bibliography Search

[1] Multiple robotic wheelchair system able to move with a companion using map information HRI2014 late breaking reports poster / Sato, Yoshihisa / Suzuki, Ryota / Arai, Masaya / Kobayashi, Yoshinori / Kuno, Yoshinori / Fukushima, Mihoko / Yamazaki, Keiichi / Yamazaki, Akiko Proceedings of the 2014 ACM/IEEE International Conference on Human-Robot Interaction 2014-03-03 p.286-287

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Summary: In order to reduce the burden of caregivers facing an increased demand for care, particularly for the elderly, we developed a system whereby multiple robotic wheelchairs can automatically move alongside a companion. This enables a small number of people to assist a substantially larger number of wheelchair users effectively. This system utilizes an environmental map and an estimation of position to accurately identify the positional relations among the caregiver (or a companion) and each wheelchair. The wheelchairs are consequently able to follow along even if the caregiver cannot be directly recognized. Moreover, the system is able to establish and maintain appropriate positional relations.

[2] Robotic wheelchair easy to move and communicate with companions Interactivity: research / Kobayashi, Yoshinori / Suzuki, Ryota / Sato, Yoshihisa / Arai, Masaya / Kuno, Yoshinori / Yamazaki, Akiko / Yamazaki, Keiichi Extended Abstracts of ACM CHI'13 Conference on Human Factors in Computing Systems 2013-04-27 v.2 p.3079-3082

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Summary: Although it is desirable for wheelchair users to go out alone by operating wheelchairs on their own, they are often accompanied by caregivers or companions. In designing robotic wheelchairs, therefore, it is important to consider not only how to assist the wheelchair user but also how to reduce companions' load and support their activities. We specially focus on the communications among wheelchair users and companions because the face-to-face communication is known to be effective to ameliorate elderly mental health. Hence, we proposed a robotic wheelchair able to move alongside a companion. We demonstrate our robotic wheelchair. All attendees can try to ride and control our robotic wheelchair.

[3] Question strategy and interculturality in human-robot interaction HRI 2013 late breaking results and poster session / Fukushima, Mihoko / Fujita, Rio / Kurihara, Miyuki / Suzuki, Tomoyuki / Yamazaki, Keiichi / Yamazaki, Akiko / Ikeda, Keiko / Kuno, Yoshinori / Kobayashi, Yoshinori / Ohyama, Takaya / Yoshida, Eri Proceedings of the 2013 ACM/IEEE International Conference on Human-Robot Interaction 2013-03-03 p.125-126

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Summary: This paper demonstrates the ways in which multi party human participants in 2 language groups, Japanese and English, engage with a quiz robot when they are asked a question. We focus on both speech and bodily conducts where we discovered both universalities and differences.

[4] Care robot able to show the order of service provision through bodily actions in multi-party settings Work-in-progress / Kobayashi, Yoshinori / Yamazaki, Keiichi / Yamazaki, Akiko / Gyoda, Masahiko / Tabata, Tomoya / Kuno, Yoshinori / Seki, Yukiko Extended Abstracts of ACM CHI'12 Conference on Human Factors in Computing Systems 2012-05-05 v.2 p.1889-1894

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Summary: Service robots, such as tea-serving robots, should be designed to show the order of service provision in multi-party settings. An ethnographic study we conducted at an elderly care center revealed that the gaze and bodily actions of care workers can serve this function. To test this, we developed a robot system able to utilize its gaze and other gestures in this way. Experimental results demonstrated that the robot could effectively display the order of service provision using this method, and highlighted the benefits of employing the gaze for robots working in multi-party settings.

[5] Establishment of spatial formation by a mobile guide robot LBR highlights / Yousuf, Mohammad Abu / Kobayashi, Yoshinori / Kuno, Yoshinori / Yamazaki, Keiichi / Yamazaki, Akiko Proceedings of the 7th International Conference on Human-Robot Interaction 2012-03-05 p.281-282

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Summary: A mobile museum guide robot is expected to establish a proper spatial formation with the visitors. After observing the videotaped scenes of human guide-visitors interaction at actual museum galleries, we have developed a mobile robot that can guide multiple visitors inside the gallery from one exhibit to another. The mobile guide robot is capable of establishing spatial formation known as "F-formation" at the beginning of explanation. It can also use a systematic procedure known as "pause and restart" depending on the situation through which a framework of mutual orientation between the speaker (robot) and visitors is achieved. The effectiveness of our method has been confirmed through experiments.

[6] A techno-sociological solution for designing a museum guide robot: regarding choosing an appropriate visitor Conversation and proxemics / Yamazaki, Akiko / Yamazaki, Keiichi / Ohyama, Takaya / Kobayashi, Yoshinori / Kuno, Yoshinori Proceedings of the 7th International Conference on Human-Robot Interaction 2012-03-05 p.309-316

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Summary: In this paper, we present our work designing a robot that explains an exhibit to multiple visitors in a museum setting, based on ethnographic analysis of interactions between expert human guides and visitors. During the ethnographic analysis, we discovered that expert human guides employ some identical strategies and practices in their explanations. In particular, one of these is to involve all visitors by posing a question to an appropriate visitor among them, which we call the "creating a puzzle" sequence. This is done in order to draw visitors' attention towards not only the exhibit and but also the guide's explanation. While creating a puzzle, the human guide can monitor visitors' responses and choose an "appropriate" visitor (i.e. one who is likely to provide an answer). Based on these findings, sociologists and engineers together developed a guide robot that coordinates verbal and non-verbal actions in posing a question or "a puzzle" that will draw visitors' attention, and then explain the exhibit for multiple visitors. During the explanation, the robot chooses an "appropriate" visitor. We tested the robot at an actual museum. The results show that our robot increases visitors' engagement and interaction with the guide, as well as interaction and engagement among visitors.

[7] Implementing human questioning strategies into quizzing-robot HRI 2012 video session / Ohyama, Takaya / Maeda, Yasutomo / Mori, Chiaki / Kobayashi, Yoshinori / Kuno, Yoshinori / Fujita, Rio / Yamazaki, Keiichi / Miyazawa, Shun / Yamazaki, Akiko / Ikeda, Keiko Proceedings of the 7th International Conference on Human-Robot Interaction 2012-03-05 p.423-424

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Summary: From our ethnographic studies on various kinds of museums, we discovered that guides routinely propose questions to visitors in order to draw their attention towards both his/her explanation and the exhibit. The guides' question sequences tend to begin with a pre-question which serves to not only monitor visitors' behavior and responses, but to also alert visitors that a primary question would follow. We implemented this questioning-strategy with our robot system and investigated whether this strategy would also work in human-robot interaction. We developed a vision system that enables the robot to choose an appropriate visitor by monitoring a visitor's response from the initiation of a pre-question to the following pause. Results indicate that this questioning-strategy works effectively in human-robot interaction. In this experiment, the robot asked visitors about a photograph. At the pre-question, the robot delivered a rather easy question followed by a more challenging question (Figure 1). More participants turned their head away from the exhibition when they were not sure about their answer to the question. They either faced away from the robot, or smiled wryly at the robot or at each other. These types of behaviors index participants' states of knowledge, which we could utilize to develop a system by which the robot could choose an appropriate candidate by computational recognition.

[8] Robotic wheelchair moving with caregiver collaboratively depending on circumstances Works-in-progress / Kobayashi, Yoshinori / Kinpara, Yuki / Takano, Erii / Kuno, Yoshinori / Yamazaki, Keiichi / Yamazaki, Akiko Proceedings of ACM CHI 2011 Conference on Human Factors in Computing Systems 2011-05-07 v.2 p.2239-2244

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Summary: This paper introduces a robotic wheelchair that can automatically move alongside a caregiver. Because wheelchair users are often accompanied by caregivers, it is vital to consider how to reduce a caregiver's load and support their activities, while simultaneously facilitating communication between the caregiver and the wheelchair user. Moreover, it has been pointed out that when a wheelchair user is accompanied by a companion, the latter is inevitably seen by others as a caregiver rather than a friend. To address this situation, we devised a robotic wheelchair able to move alongside a caregiver or companion, and facilitate easy communication between them and the wheelchair user. To confirm the effectiveness of the wheelchair in real-world situations, we conducted experiments at an elderly care center in Japan.

[9] A wheelchair which can automatically move alongside a caregiver Video session / Kobayashi, Yoshinori / Kinpara, Yuki / Takano, Erii / Kuno, Yoshinori / Yamazaki, Keiichi / Yamazaki, Akiko Proceedings of the 6th International Conference on Human-Robot Interaction 2011-03-06 p.407-408

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Summary: This video presents our ongoing work developing a robotic wheelchair that can move automatically alongside a caregiver. Recently, several robotic/intelligent wheelchairs possessing autonomous functions for reaching a goal and/or user-friendly interfaces have been proposed. Although ideally wheelchair users may wish to go out alone, they are often accompanied by caregivers. Therefore, it is important to consider how to reduce the caregivers' load and support their activities and facilitate communication between the wheelchair user and caregiver. Moreover, a sociologist pointed out that when a wheelchair user is accompanied by a companion, the latter is inevitably seen as a caregiver [1]. In other words, the equality of the relationship is publicly undermined when the wheelchair is pushed by a companion. Hence, we propose a robotic wheelchair which can move alongside a caregiver or companion, and facilitate easy communication between them and the wheelchair user. However, it is not always desirable for a caregiver to be alongside a wheelchair. For instance, a caregiver may step in front of the wheelchair to open a door, and pedestrians may be encumbered by the wheelchair and companion if they move along side-by-side in a narrow corridor. To cope with these problems, our robotic wheelchair can move alongside a caregiver collaboratively depending on the circumstances. A laser range sensor is employed to track the caregiver and observe the environment around the wheelchair [2]. When obstacles are detected in the wheelchair's path of motion, it adjusts its position accordingly. In the video we demonstrate these functions of our robotic wheelchair. We are now conducting experiments to confirm the effectiveness of our wheelchair at an elderly care center in Japan.

[10] Revealing gauguin: engaging visitors in robot guide's explanation in an art museum New media experiences 2 / Yamazaki, Keiichi / Yamazaki, Akiko / Okada, Mai / Kuno, Yoshinori / Kobayashi, Yoshinori / Hoshi, Yosuke / Pitsch, Karola / Luff, Paul / vom Lehn, Dirk / Heath, Christian Proceedings of ACM CHI 2009 Conference on Human Factors in Computing Systems 2009-04-04 v.1 p.1437-1446

Keywords: computer vision, conversation analysis, guide robot, human-robot interaction, interaction analysis, museum

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Summary: Designing technologies that support the explanation of museum exhibits is a challenging domain. In this paper we develop an innovative approach -- providing a robot guide with resources to engage visitors in an interaction about an art exhibit. We draw upon ethnographical fieldwork in an art museum, focusing on how tour guides interrelate talk and visual conduct, specifically how they ask questions of different kinds to engage and involve visitors in lengthy explanations of an exhibit. From this analysis we have developed a robot guide that can coordinate its utterances and body movement to monitor the responses of visitors to these. Detailed analysis of the interaction between the robot and visitors in an art museum suggests that such simple devices derived from the study of human interaction might be useful in engaging visitors in explanations of complex artifacts.

[11] Assisted-care robot initiation of communication in multiparty settings Spotlight on work in progress session 1 / Kobayashi, Yoshinori / Kuno, Yoshinori / Niwa, Hitoshi / Akiya, Naonori / Okada, Mai / Yamazaki, Keiichii / Yamazaki, Akiko Proceedings of ACM CHI 2009 Conference on Human Factors in Computing Systems 2009-04-04 v.2 p.3583-3588

Keywords: computer vision, ethnomethodology, human-robot interaction, non-verbal communication, service robot

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Summary: This paper presents on-going work in developing service robots that provide assisted-care to the elderly in multi-party settings. In typical Japanese day-care facilities, multiple caregivers and visitors are co-present in the same room and any caregiver may provide assistance to any visitor. In order to effectively work in such settings, a robot should behave in a way that a person who has a request can easily initiate communication with the robot. Based on findings from observations at several day-care facilities, we have developed a robot system that displays availability to multiple persons and then displays recipiency to an individual person who wants to initiate interaction. Our robot system and its experimental evaluation are detailed in this paper.

[12] Effect of restarts and pauses on achieving a state of mutual orientation between a human and a robot Gaze and surveillance / Kuzuoka, Hideaki / Pitsch, Karola / Suzuki, Yuya / Kawaguchi, Ikkaku / Yamazaki, Keiichi / Yamazaki, Akiko / Kuno, Yoshinori / Luff, Paul / Heath, Christian Proceedings of ACM CSCW'08 Conference on Computer-Supported Cooperative Work 2008-11-08 p.201-204

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Summary: In this paper we consider the development of a museum guide robot that has both autonomous and remotely controlled features. We focus on the capabilities such a robot could have to help focus the attention of a visitor on an object or artefact. Inspired by studies of social interaction, which investigate whether the robot could deploy "restarts" and "pauses" at certain moments in its talk to first elicit the visitor's attention/gaze towards the robot. We report an experiment where we deployed such a robot to interact with real visitors to a science museum. These experiments show that such a strategy does seem to have a significant impact on obtaining the visitor's gaze.

[13] Precision timing in human-robot interaction: coordination of head movement and utterance Human-Robot Interaction / Yamazaki, Akiko / Yamazaki, Keiichi / Kuno, Yoshinori / Burdelski, Matthew / Kawashima, Michie / Kuzuoka, Hideaki Proceedings of ACM CHI 2008 Conference on Human Factors in Computing Systems 2008-04-05 v.1 p.131-140

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Summary: As research over the last several decades has shown that non-verbal actions such as face and head movement play a crucial role in human interaction, such resources are also likely to play an important role in human-robot interaction. In developing a robotic system that employs embodied resources such as face and head movement, we cannot simply program the robot to move at random but rather we need to consider the ways these actions may be timed to specific points in the talk. This paper discusses our work in developing a museum guide robot that moves its head at interactionally significant points during its explanation of an exhibit. In order to proceed, we first examined the coordination of verbal and non-verbal actions in human guide-visitor interaction. Based on this analysis, we developed a robot that moves its head at interactionally significant points in its talk. We then conducted several experiments to examine human participant non-verbal responses to the robot's head and gaze turns. Our results show that participants are likely to display non-verbal actions, and do so with precision timing, when the robot turns its head and gaze at interactionally significant points than when the robot turns its head at not interactionally significant points. Based on these findings, we propose several suggestions for the design of a guide robot.

[14] Prior-to-request and request behaviors within elderly day care: Implications for developing service robots for use in multiparty settings / Yamazaki, Keiichi / Kawashima, Michie / Kuno, Yoshinori / Akiya, Naonori / Burdelski, Matthew / Yamazaki, Akiko / Kuzuoka, Hideaki Proceedings of the Tenth European Conference on Computer-Supported Cooperative Work 2007-09-24 p.61-78

www.ecscw.org/2007/04%20paper%2058%20Yamazaki.pdf

Summary: The rapidly expanding elderly population in Japan and other industrialized countries has posed an enormous challenge to the systems of healthcare that serve elderly citizens. This study examines naturally occurring interaction within elderly day care in Japan, and discusses the implications for developing robotic systems that can provide service in elderly care contexts. The interaction analysis focuses on prior-to-request and request behaviors involving elderly visitors and caregivers in multiparty settings. In particular, it delineates the ways caregivers' displays of availability affects elderly visitors' behavior prior to initiating a request, revealing that visitors observe caregivers prior to initiating a request, and initiation is contingent upon caregivers' displayed availability. The findings are discussed in relation to our work in designing an autonomous and remote controlled robotic system that can be employed in elderly day care centers and other service contexts.

[15] Museum guide robot based on sociological interaction analysis People, looking at people / Kuno, Yoshinori / Sadazuka, Kazuhisa / Kawashima, Michie / Yamazaki, Keiichi / Yamazaki, Akiko / Kuzuoka, Hideaki Proceedings of ACM CHI 2007 Conference on Human Factors in Computing Systems 2007-04-28 v.1 p.1191-1194

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Summary: We are currently working on a museum guide robot with an emphasis on "friendly" human-robot interaction displayed through nonverbal behaviors. In this paper, we focus on head gestures during explanations of exhibits. The outline of our research is as follows. We first examined human head gestures through an experimental, sociological approach. From this research, we have discovered how human guides coordinate their head movement along with their talk when explaining exhibits. Second, we developed a robot system based on these findings. Third, we evaluated human-robot interaction, again using an experimental, sociological approach, and then modified the robot based on the results. Our experimental results suggest that robot head turning may lead to heightened engagement of museum visitors with the robot. Based on our preliminary findings, we will describe a museum guide robot that first works autonomously and, if necessary, can turn into remote-control mode operated by a human to engage in more complex interaction with visitors.

[16] Mediating dual ecologies Gesturing, moving and talking together / Kuzuoka, Hideaki / Kosaka, Jun'ichi / Yamazaki, Keiichi / Suga, Yasuko / Yamazaki, Akiko / Luff, Paul / Heath, Christian Proceedings of ACM CSCW'04 Conference on Computer-Supported Cooperative Work 2004-11-06 p.477-486

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Summary: In this paper we investigated systems for supporting remote collaboration using mobile robots as communication media. It is argued that the use of a remote-controlled robot as a device to support communication involves two distinct ecologies: an ecology at the remote (instructor's) site and an ecology at the operator's (robot) site. In designing a robot as a viable communication medium, it is essential to consider how these ecologies can be mediated and supported. In this paper, we propose design guidelines to overcome the problems inherent in dual ecologies, and describe the development of a robot named GestureMan-3 based on these guidelines. Our experiments with GestureMan-3 showed that the system supports sequential aspects of the organization of communication.

[17] Dual ecologies of robot as communication media: thoughts on coordinating orientations and projectability / Kuzuoka, Hideaki / Yamazaki, Keiichi / Yamazaki, Akiko / Kosaka, Jun'ichi / Suga, Yasuko / Heath, Christian Proceedings of ACM CHI 2004 Conference on Human Factors in Computing Systems 2004-04-24 v.1 p.183-190

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Summary: The aim of our study is to investigate systems for supporting remote instruction via a mobile robot. In the real world, instructions are typically given through words and body orientations such as head movements, which make it possible to project others' actions. Projectability is an important resource in organizing multiple actions among multiple participants in co-ordination with one another. It can likewise be said that in the case of robot-human collaboration, it is necessary to design a robot's head so that a local participant can project the robot's (and remote person's) actions. GestureMan is a robot that is designed to support such projectability properties. It is argued that a remote controlled mobile robot, designed as a communication medium, makes relevant dual ecologies: ecology at a remote (robot operator's) site and at a local participant's (robot's) site. In order to design a robot as a viable communication medium, it is essential to consider how these ecologies can be mediated and supported.

[18] Embodied Spaces: Designing Remote Collaboration Systems Based on Body Metaphor / Kuzuoka, H. / Yamazaki, K. / Yamashita, J. / Oyama, S. / Yamazaki, A. / Kato, H. / Suzuki, H. / Miki, H. Proceedings of the Ninth International Conference on Human-Computer Interaction 2001-08 v.1 p.763-767

[19] GestureMan: A Mobile Robot that Embodies a Remote Instructor's Actions Video Presentations / Kuzuoka, Hideaki / Oyama, Shinya / Yamazaki, Keiichi / Yamazaki, Akiko / Mitsuishi, Mamoru / Suzuki, Kenji Proceedings of ACM CSCW'00 Conference on Computer-Supported Cooperative Work 2000-12-02 p.354

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[20] GestureLaser and GestureLaser Car: Development of an embodied space to support remote instruction / Yamazaki, Keiichi / Yamazaki, Akiko / Kuzuoka, Hideaki / Oyama, Shinya / Kato, Hiroshi / Suzuki, Hideyuki / Miki, Hiroyuki Proceedings of the Sixth European Conference on Computer-Supported Cooperative Work 1999-09-12 p.239

[21] Agora: supporting multi-participant telecollaboration / Yamashita, J. / Kuzuoka, H. / Yamazaki, K. / Miki, H. / Yamazaki, A. / Kato, H. / Suzuki, H. Proceedings of the Eighth International Conference on Human-Computer Interaction 1999-08-22 v.2 p.543-547

[22] Agora: a remote collaboration system that enables mutual monitoring Late-breaking results: novel collaborative paradigms / Kuzuoka, Hideaki / Yamashita, Jun / Yamazaki, Keiichi / Yamazaki, Akiko Proceedings of ACM CHI 99 Conference on Human Factors in Computing Systems 1999-05-15 v.2 p.190-191

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Summary: We introduce the video mediated remote collaboration system named Agora. Agora is designed so that embodiment of participants'conducts can be monitored naturally. Design principle, architecture, and initial impressions of the system is described.

[23] GestureLaser: Supporting Hand Gestures in Remote Instruction Videos / Kuzuoka, Hideaki / Oyama, Shinya / Kato, Hiroshi / Suzuki, Hideyuki / Yamazaki, Keiichi / Yamazaki, Akiko / Miki, Hiroyuki Proceedings of ACM CSCW'98 Conference on Computer-Supported Cooperative Work 1998-11-14 p.424

Summary: GestureLaser is a remote controlled laser pointer which allows an instructor to gesture at real world objects over distances. To control the position of the GestureLaser's spot, a laser beam is reflected by two mirrors each rotated by a stepping motor. The remote instructor controls the motion of the laser's spot using a computer mouse in the same way an ordinary mouse pointer is controlled. The instructor can thus show position, rotation and direction by moving the spot. The laser's low illumination mode is used to indicate transitions between gestures while still allowing operators to track the spot. We have already undertaken a few experiments in order to understand how users can effectively use the laser's spot as a substitute for real hand gestures.