Dance Teaching by a Robot: Combining Cognitive and Physical Human-Robot Interaction for Supporting the Skill Learning Process

被引：45

作者：

Granados, Diego Felipe Paez ^{[1
]}

Yamamoto, Breno A. ^{[2
]}

Kamide, Hiroko ^{[3
]}

Kinugawa, Jun ^{[1
]}

Kosuge, Kazuhiro ^{[1
]}

机构：

[1] Tohoku Univ, Grad Sch Engn, Dept Robot, Sendai, Miyagi 9808579, Japan

[2] Univ Fed Uberlandia, Sch Mech Engn, Mechatron Engn Dept, BR-38408100 Uberlandia, MG, Brazil

[3] Nagoya Univ, Inst Innovat Future Soc, Nagoya, Aichi 4648601, Japan

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2017年 / 2卷 / 03期

关键词：

Education robotics; force control; human factors and human-in-the-loop; human performance augmentation; physical human-robot interaction; COOPERATION; STABILITY;

D O I：

10.1109/LRA.2017.2671428

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This letter presents a physical human-robot interaction scenario in which a robot guides and performs the role of a teacher within a defined dance training framework. A combined cognitive and physical feedback of performance is proposed for assisting the skill learning process. Direct contact cooperation has been designed through an adaptive impedance-based controller that adjusts according to the partner's performance in the task. In measuring performance, a scoring system has been designed using the concept of progressive teaching (PT). The system adjusts the difficulty based on the user's number of practices and performance history. Using the proposed method and a baseline constant controller, comparative experiments have shown that the PT presents better performance in the initial stage of skill learning. An analysis of the subjects' perception of comfort, peace ofmind, and robot performance has shown significant difference at the p < 0.01 level, favoring the PT algorithm.

引用

页码：1452 / 1459

页数：8

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