Estimation of user's intention inherent in the movements of hand and eyes for the deskwork support system

Yusuke Tamura; Masao Sugi; Jun Ota; Tamio Arai

doi:10.1109/IROS.2007.4399618

Estimation of user's intention inherent in the movements of hand and eyes for the deskwork support system

Yusuke Tamura, Masao Sugi, Jun Ota, Tamio Arai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages	3709-3714
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2007.4399618
Publication status	Published - 2007 Dec 1
Externally published	Yes
Event	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States Duration: 2007 Oct 29 → 2007 Nov 2

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Other

Other	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Country	United States
City	San Diego, CA
Period	07/10/29 → 07/11/2

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2007.4399618

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Cite this

Tamura, Y., Sugi, M., Ota, J., & Arai, T. (2007). Estimation of user's intention inherent in the movements of hand and eyes for the deskwork support system. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 3709-3714). [4399618] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399618

Estimation of user's intention inherent in the movements of hand and eyes for the deskwork support system. / Tamura, Yusuke; Sugi, Masao; Ota, Jun; Arai, Tamio.

Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 3709-3714 4399618 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tamura, Y, Sugi, M, Ota, J & Arai, T 2007, Estimation of user's intention inherent in the movements of hand and eyes for the deskwork support system. in Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007., 4399618, IEEE International Conference on Intelligent Robots and Systems, pp. 3709-3714, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, United States, 07/10/29. https://doi.org/10.1109/IROS.2007.4399618

Tamura Y, Sugi M, Ota J, Arai T. Estimation of user's intention inherent in the movements of hand and eyes for the deskwork support system. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 3709-3714. 4399618. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399618

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abstract = "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.",

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