TY - GEN
T1 - Estimation of user's intention inherent in the movements of hand and eyes for the deskwork support system
AU - Tamura, Yusuke
AU - Sugi, Masao
AU - Ota, Jun
AU - Arai, Tamio
PY - 2007/12/1
Y1 - 2007/12/1
N2 - We aim to realize a robotic system that hands over a necessary object to a user as soon as he/she attempts to reach out his/her hand for it. In order to realize such system, the following is required: 1) detection of the reaching movements, 2) prediction of the target object among multiple objects, and 3) handing-over the object to a user. In this paper, the first two of them are discussed. To detect the reaching movements, we use the speed of a hand movement, the smoothness of the hand trajectory, and the relation between a position of hand and a gaze point. To predict the target object, we use a probabilistic model based on the user's hand movements and his/her gaze direction. The proposed system can detect reaching movements and predict the target object at a very early stage. A description of the experimental results demonstrates the advantage of the method proposed here.
AB - We aim to realize a robotic system that hands over a necessary object to a user as soon as he/she attempts to reach out his/her hand for it. In order to realize such system, the following is required: 1) detection of the reaching movements, 2) prediction of the target object among multiple objects, and 3) handing-over the object to a user. In this paper, the first two of them are discussed. To detect the reaching movements, we use the speed of a hand movement, the smoothness of the hand trajectory, and the relation between a position of hand and a gaze point. To predict the target object, we use a probabilistic model based on the user's hand movements and his/her gaze direction. The proposed system can detect reaching movements and predict the target object at a very early stage. A description of the experimental results demonstrates the advantage of the method proposed here.
UR - http://www.scopus.com/inward/record.url?scp=51349120036&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349120036&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399618
DO - 10.1109/IROS.2007.4399618
M3 - Conference contribution
AN - SCOPUS:51349120036
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3709
EP - 3714
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -