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

Diego Felipe Paez Granados, Breno A. Yamamoto, Hiroko Kamide, Jun Kinugawa, Kazuhiro Kosuge

Research output: Contribution to journalArticlepeer-review

20 Citations (Scopus)

Abstract

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 con-troller, 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 of mind, and robot performance has shown significant difference at the p< 0.01 level, favoring the PT algorithm.

Original languageEnglish
Article number7858650
Pages (from-to)1452-1459
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume2
Issue number3
DOIs
Publication statusPublished - 2017 Jul

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence

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