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Social Robotics    (for Assisted Living)                    Rod Walsh            Project Manager, Social Robotics         ...
http://www.tamk.fi/enhttp://www.tamk.fi/tamktodayhttp://tamk-en.blogspot.com/http://www.facebook.com/Tam          pereUAS ...
TAMK R&D & Innovation (RDI) programmesTechnology•   development of energy efficiency in buildings and facilities,    and r...
Social RoboticsA social robot is anautonomous robot thatinteracts and communicateswith humans or otherautonomous physical ...
Motivations: Aging World • Demographics changes • Workplace changes • Health care changes
Motivations: Demographic Gap• Decreased health budget per person• Insufficient (over-stretched) professionals
Motivations: Longer Working Lives• Assisted self-care• Augmented healthcare• Assisted working
Social Robotics Vision•   Semi-autonomous robots and avatars•   Interacting with people in their own space•   Augmenting h...
A Few Examples
Plutchik, R. "The Nature of Emotions". American Scientist.                                                                ...
Plutchik, R. "The Nature of Emotions". American Scientist.                                                                ...
Real-time Emotion Recognition
Smart cabs:Machines That know their Drivers                       Database:           non-contact sensing:                ...
Affective Robotics:Physical expression from social robots                                                        face in  ...
Ekman’s six                   anger         neutral                   disgust                   fear                   hap...
angerPhysical Emotion
disgustPhysical Emotion
fearPhysical Emotion
happinessPhysical Emotion
sadnessPhysical Emotion
surprisePhysical Emotion
Come and play!Social                                                                                                      ...
Mindreader                     (Emotion Hero)                         Train One,(work-in-progress)         Train All
Our 2013 Focus   Teleportation                 Physio’     (webconf)                   buddy              Emotion play  Ri...
Our 2013 Focus   Teleportation                 Physio’     (webconf)                   buddy              Emotion play  Ri...
Our 2013 Focus   Teleportation                 Physio’     (webconf)                   buddy              Emotion play  Ri...
Our 2013 Focus   Teleportation                 Physio’     (webconf)                   buddy              Emotion play  Ri...
New Beginnings in 2013   Teleportation                 Physio’     (webconf)                   buddy              Emotion ...
Thank you!Questions, discussion…
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Social Robotics for Assisted Living

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TAMK presentation at DMU Viral Workshop on Assisted Living Technologies, 21.November.2012.

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Social Robotics for Assisted Living

  1. 1. Social Robotics (for Assisted Living) Rod Walsh Project Manager, Social Robotics Tampere University of Applied SciencesThe First DMU workshop on Assisted Living Technologies (ALT2012) 21.November.2012
  2. 2. http://www.tamk.fi/enhttp://www.tamk.fi/tamktodayhttp://tamk-en.blogspot.com/http://www.facebook.com/Tam pereUAS 2012
  3. 3. TAMK R&D & Innovation (RDI) programmesTechnology• development of energy efficiency in buildings and facilities, and reduction of environmental impacts• efficiency of mobile machinery• assessment of human activity in genuine operational environments• development of new business opportunitiesWellbeing• development of services for seniors, including promotion of wellbeing entrepreneurship and development of wellbeing technology• promotion of wellbeing at work• promotion of children’s and adolescents’ healthCulture• integration of various fields to create internationally competitive cultural products with a strong regional flavour• promotion of networking opportunities for companies• helping the development of culture products for the export market
  4. 4. Social RoboticsA social robot is anautonomous robot thatinteracts and communicateswith humans or otherautonomous physical agentsby following social behaviorsand rules attached to its role.http://en.wikipedia.org/wiki/Social_robot
  5. 5. Motivations: Aging World • Demographics changes • Workplace changes • Health care changes
  6. 6. Motivations: Demographic Gap• Decreased health budget per person• Insufficient (over-stretched) professionals
  7. 7. Motivations: Longer Working Lives• Assisted self-care• Augmented healthcare• Assisted working
  8. 8. Social Robotics Vision• Semi-autonomous robots and avatars• Interacting with people in their own space• Augmenting healthcare givers• Providing rehabilitation and lifestyle support• Reliable and inexpensive (step-by-step)
  9. 9. A Few Examples
  10. 10. Plutchik, R. "The Nature of Emotions". American Scientist. Darwin, Charles (1872), The expression of the emotions in man and animals, London: John Murray.Physical EmotionEmotion, mood &sentiment affect…• Wellbeing• Behaviour• InteractionDetailed modelsexist (e.g. Plutchik) Ekman, Paul (1992). "An Argument for Basic Emotions". Cognition and
  11. 11. Plutchik, R. "The Nature of Emotions". American Scientist. Darwin, Charles (1872), The expression of the emotions in man and animals, London: John Murray.Physical EmotionEmotion, mood &sentiment affect…• Wellbeing• Behaviour• InteractionDetailed modelsexist (e.g. Plutchik)Most research usesEkman’s (original) sixemotionsMachine emotion ispotentially useful Ekman, Paul (1992). "An Argument for Basic Emotions". Cognition and
  12. 12. Real-time Emotion Recognition
  13. 13. Smart cabs:Machines That know their Drivers Database: non-contact sensing: state of mind video, image, audio Pattern logrecognition sensor logs logged logged offline real-time 7/10 capability state of mind estimation ~7/10 capability Match with task 8/10 Simulate simple changes minimum • Music, lighting, airflow, …
  14. 14. Affective Robotics:Physical expression from social robots face in unity robot virtual User selected behaviors that affect emotional state for 1to1 dialogue and performance cases. Things like, “be happy”, “welcome”, “reject”, “complain”, “cry”, “superman”, … actual robot virtual robot body in the body in unity real world body face Full Model-specific compute: Output-specific compute: Translate behavior into spatial “Render” spatial model model (behavior)
  15. 15. Ekman’s six anger neutral disgust fear happiness sadness surprise neutralPhysical Emotion
  16. 16. angerPhysical Emotion
  17. 17. disgustPhysical Emotion
  18. 18. fearPhysical Emotion
  19. 19. happinessPhysical Emotion
  20. 20. sadnessPhysical Emotion
  21. 21. surprisePhysical Emotion
  22. 22. Come and play!Social http://socialrobotics.tamk.fi/apps/RoboticsApplications and Demos Demo App: ILO apps&demos home Emotional Face Avatar (alpha) ILO Interactive Demo (flash) - includes David and Karls Stories Demo App: Welcome to the Social Robotics Human-like face test demo from TAMK 2012. This avatar face can simulate emotional, and other, facial expressions using movements Virtual Vaino Emotional Body along 10 dimensions of facial movement: (alpha) eyebrows inside up App More info Link Demo App: m yBut t on eyebrows outside and up eyebrows down eyes opening Welcome to the Social Robotics Bioloid-like robot body test demo from TAMK 2012. closingeyes Virtual Vaino Body Positioner This avatar robot can simulate emotional, and other, body gestures and poses with its (corners) up (and out) lip 18 degrees of freedom (i.e. just like a real bioloid robot it has 18 actuators that can lip (corners) down Mac OSX (alpha) rotate this way or that to a precise position). lips pressed (together) jaw (and mouth) open Welcome to the Social Robotics Bioloid-like robot body slider test demo from TAMK nose (pinch) (download) 2012. This version of the avatar robot can be moved around in all 18 degrees of freedom and, unlike a real robot, it is not restricted by the laws of physics. It wont fall Windows over, wont mind having its arm swing in and out of its head, and much more. This demo is essentially a play-thing to experiment with different positions and simple Virtual Vaino movements of the bioloid robot, and especially to work out how to replicate or newly See emobody page or bundled (32bit) create poses and gestures with human meanings, such as attributable to emotions. Emotional readme file (in the download) Takes a (download) to go from ILO Interaction to Video Stories (and "back" to return to ILO Interaction). few seconds to load! Body (alpha) Use "skip" to skip forward, "goodbye" Windows is not currently functional (requires a localhost server we will put online later). Note: The ILO Interaction part ILO: (64bit) Karls Video Stories David and (download) Application Display: Emotional Body Gesture Avatar. Davids Story David and ILO Play Minesweeper with ILO There are two modes of operation: standalone and networked. See the bundled readme Application Display: Emotional Face Avatar. file for more details. There are two modes of operation: standalone and networked. See the bundled Mac OSX Some Instructions readme.txt for more details. Some Instructions Hide/unhide controls (download) Application Display: Bioloid Robot Avatar. The "list" button in the top right hides and unhides action listHide/unhide controls on the Some Instructions left. The Quit button - although self explanatory - doesnt always Windows work :) The logo button hides and unhides the logo. The "buttons" button in the top right hides and unhides the Emotional Hide/unhide controls Body gesture and action controls other buttons in the top right. Most of the other buttons hide and unhide the interesting looking things on the left (so you See emoface page or bundled (32bit) The "buttons" button in the top right hides and unhides can tidy up the UI and just see what you want - and when Face Avatar the other buttons in the top right. Most of the other The action list UI widget is on the left. Click on an you use a low resolution avatar setting youll find the things on the left overlap (yep, the UI needs perfecting) so now you readme file (in the download) (download) buttons hide and unhide the other interesting looking UI widgets (so you can tidy up the UI and just see what action and see it performed. Scroll up and down so access all the actions. Because the actual physical can hide the stuff thats annoying. The other button in the top (alpha) you want). The other button in the top right is Quit - bioloid robot understands sets of exactly 256 right is Quit - although self explanatory, it doesnt always Windows - - although self explanatory, it doesnt always work :) actions/commands/presets, and because we use exactly the same action definition file format for our avatar as for the real robot, the action list work :) Remote and debug messages 00:00 00:00 Mouse control (64bit) 01:20 01:45 shows all 256 slots available. Not all of these are When this avatar is full screen or its window is in focus, moving your mouse around(youll see blanks). Not all of the remainder used The remote UI widget is the "incoming messaged" Karls Story Karl and ILO will change the view angle. If you find an angle you want to hold (e.g. while movingare useful (some are leftovers from previous box in the bottom left. It reports some internal program info, and in networking mode (download) experiments and factory settings). Not all of the the sliders), press the ctrl key while moving the mouse to freeze the view angle. You can also zoom in and out with the mouse scroll button/gesture. remainder of that work well. The complete long list says what has been sent (useful in determining that the magical controller person cant spell and so isnt making the avatar move). of commands is given in the demo app UI and also Slider controls in the bundled readme file. Emotion selectors However, a small set of 9 basic expressions do Mac OSX The sliders on the left represent each work well and simply (see the table below). Beyond these 9 expressions, play with the long list The local UI widget is the 3 of the 18 actuators (download) on the robot. Move them from left (0.0 so see what commands work, and how they work. by 3 grid of buttons in the lower-middle left. The button labels are a one-to-one match to the instructions that the - one extreme) to Basic 9 Equivalent long list Virtual Vaino Windows center (0.5 - middle position) to Expression command avatar can understand from our remote magical controller in networked mode. In standalone mode you can spoil the surprise and make the avatar do what only magical remote controllers can do otherwise. Happy right (1.0 - the other extreme) to pose the avatar as H_3_2_1 Body See mankin page or bundled (32bit) you wish - one actuator at a time. For convenience, Sad the sliders are clustered into left arm, right arm, left S_2_1 Facial expression controls leg and right leg groups. To simplify the UI, Positioner readme file (in the download) (download) 00:00 - 00:00 - individual sliders are not labeled - but they areFear order: from top to bottom relates to from closest to in F_2_2 The sliders UI widget is the long one from the top left. It has 10 sliders - one for each of the 10 01:00 01:48 the torso to furthest from the torso respectively. (The astute among you will have Surprised SU_1 dimensions of facial movement (or degrees of (alpha) Windows ILOs Emotional Faces that there are only 16 sliders. Hip movement is generated by two actuators, and the seen closest of these to the torso, for each leg, is given a slider at the end (not the start,Disgusted as D_2_1_1 freedom of our model - if you prefer that terminology). Move them from a neutral left (0.0) to full on activation right (1.0) to see each in action. (64bit) would be logical) of the list just to keep you on your t oes. Downloads Angry A_1_1 When more than one of these is not neutral (i.e. none- zero) the avatar magically combines the "positions" Waving Waving (download) Bow Bow from each of the dimensions to produce an combined expressions. The emotion presets are simply combinations of these 10 dimension/slider values. If Mac OSX (download) you want to see (a strong of) the values press "show Windows (32bit) (download) parameters" and 10 numbers will appear in the In networked mode, the remote magical controller has exactly the same menu of action Windows (64bit) (download) commands at their disposal as you see in the action list and in the bundled readme file. box below. You can copy and paste parameter from/into this parameter box, and manually change Downloads numbers. When you are ready to set the face and ILO sliders to your (string of) numbers, press "make face" Includes child (David) and and yet more magic occurs. Interactive Mac OSX (download) Downloads seniors (Karl) stories (child n/a Windows (32bit) (download) Windows (64bit) (download) Social Robot and senior). See ILOs page 00:00 - Mac OSX (download) Windows (32bit) (download) Demo 00:16 Windows (64bit) (download)
  23. 23. Mindreader (Emotion Hero) Train One,(work-in-progress) Train All
  24. 24. Our 2013 Focus Teleportation Physio’ (webconf) buddy Emotion play Rich info, video & Kinetic robotambiance in a simple UI “programming” Emotion & activity Instant media spaces Flexible humanoid detection & recognition(smart active cam/mic) Physical/Mobile/PC Playful engagement Affordable locomotion Avatar “mobility”(raised tablet on wheels) Probing Remote nursing Behavioural agent Stimulation Companionship Augmented care Intervention
  25. 25. Our 2013 Focus Teleportation Physio’ (webconf) buddy Emotion play Rich info, video & Kinetic robotambiance in a simple UI “programming” Emotion & activity Instant media spaces Flexible humanoid detection & recognition(smart active cam/mic) Physical/Mobile/PC Playful engagement Affordable locomotion Avatar “mobility”(raised tablet on wheels) Probing Remote nursing Behavioural agent Stimulation Companionship Augmented care Intervention
  26. 26. Our 2013 Focus Teleportation Physio’ (webconf) buddy Emotion play Rich info, video & Kinetic robotambiance in a simple UI “programming” Emotion & activity Instant media spaces Flexible humanoid detection & recognition(smart active cam/mic) Physical/Mobile/PC Playful engagement Affordable locomotion Avatar “mobility”(raised tablet on wheels) Probing Remote nursing Behavioural agent Stimulation Companionship Augmented care Intervention
  27. 27. Our 2013 Focus Teleportation Physio’ (webconf) buddy Emotion play Rich info, video & Kinetic robotambiance in a simple UI “programming” Emotion & activity Instant media spaces Flexible humanoid detection & recognition(smart active cam/mic) Physical/Mobile/PC Playful engagement Affordable locomotion Avatar “mobility”(raised tablet on wheels) Probing Remote nursing Behavioural agent Stimulation Companionship Augmented care Intervention
  28. 28. New Beginnings in 2013 Teleportation Physio’ (webconf) buddy Emotion play Rich info, video & Kinetic robotambiance in a simple UI Instant media spaces Other ideas? “programming” Emotion & activity Flexible humanoid detection & recognition(smart active cam/mic) Physical/Mobile/PC Playful engagement Affordable locomotion Avatar “mobility”(raised tablet on wheels) Probing Remote nursing Behavioural agent Stimulation Companionship Augmented care Intervention
  29. 29. Thank you!Questions, discussion…

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