Cognitive and motor compliance in intentional human-robot interaction

Chame, Hendry Ferreira; Tani, Jun

doi:10.48550/arxiv.1911.01753

Cited by 2 publications

(5 citation statements)

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“…In the next section, it is proposed a front-end program that implements a virtual robot, for illustrating NRL operation in on-line interaction. The library has been used in real experiments, as reported in the study by Chame & Tani [69], which included the humanoid Torobo.…”

Section: Attributes Methodsmentioning

confidence: 99%

“…Hence, the human tried to communicate with the robot through corporal patterns or gestures. We have shown in related studies with real robots (Chame & Tani [69]) that this relation can be studied both ways in the physical dimension, so the human and the robot are able to modify each other's body posture.…”

Section: Developmental Psychologymentioning

confidence: 99%

“…Our previous research (Chame & Tani [69]) has shown in on-line human-robot interaction a possible way in which compliance, as a cognitive (volitional) dynamic process, can relate to reactive motor adjustment. Hence, cognitive compliance was studied as a dynamical integrative optimization process that characterizes how deliberation is influenced by sensory stimulation induced by the partner's actions in the dyad.…”

Section: Physical Interactionmentioning

confidence: 99%

“…These devices are torque-controlled which allows designing diverse interaction tasks involving passive, activeassisted, and active-resisted movements, depending on the treatment goals and the patient's level of impairment. As discussed in Chame & Tani [69], when considering simultaneous deliberation and adjustment, it is also possible to profile interaction styles from the robot's capacity of taking purposeful actions, while accommodating to the human's intentions. These characteristics could enrich the availability of task repertories.…”

Section: Cognitive Rehabilitation and Motivationmentioning

confidence: 99%

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Towards hybrid primary intersubjectivity: a neural robotics library for human science

Chame,

Ahmadi,

Tani

2020

Preprint

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Human-robot interaction is becoming an interesting area of research in cognitive science, notably, for the study of social cognition. Interaction theorists consider primary intersubjectivity a non-mentalist, pre-theoretical, non-conceptual sort of processes that ground a certain level of communication and understanding, and provide support to higher-level cognitive skills. We argue this sort of low level cognitive interaction, where control is shared in dyadic encounters, is susceptible of study with neural robots. Hence, in this work we pursue three main objectives. Firstly, from the concept of active inference we study primary intersubjectivity as a second person perspective experience characterized by predictive engagement, where perception, cognition, and action are accounted for an hermeneutic circle in dyadic interaction. Secondly, we propose an open-source methodology named neural robotics library (NRL) for experimental human-robot interaction, and a demonstration program for interacting in real-time with a virtual Cartesian robot (VCBot). Lastly, through a study case, we discuss some ways human-robot (hybrid) intersubjectivity can contribute to human science research, such as to the fields of developmental psychology, educational technology, and cognitive rehabilitation.

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Section: Attributes Methodsmentioning

confidence: 99%

Section: Developmental Psychologymentioning

confidence: 99%

Section: Physical Interactionmentioning

confidence: 99%

Section: Cognitive Rehabilitation and Motivationmentioning

confidence: 99%

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Towards hybrid primary intersubjectivity: a neural robotics library for human science

Chame,

Ahmadi,

Tani

2020

Preprint

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“…Our group [16][17][18] has conducted synthetic robotic modeling studies on imitative interaction by extending the frameworks of predictive coding (PC) and active inference (AIF), based on the free energy principle (FEP) proposed by Friston [12]. PC provides a formalism for how agents perceive incoming sensations.…”

Section: Introductionmentioning

confidence: 99%

Turn-Taking Mechanisms in Imitative Interaction: Robotic Social Interaction Based on the Free Energy Principle

Wirkuttis

Ohata

Tani

2023

Entropy

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This study explains how the leader-follower relationship and turn-taking could develop in a dyadic imitative interaction by conducting robotic simulation experiments based on the free energy principle. Our prior study showed that introducing a parameter during the model training phase can determine leader and follower roles for subsequent imitative interactions. The parameter is defined as w, the so-called meta-prior, and is a weighting factor used to regulate the complexity term versus the accuracy term when minimizing the free energy. This can be read as sensory attenuation, in which the robot’s prior beliefs about action are less sensitive to sensory evidence. The current extended study examines the possibility that the leader-follower relationship shifts depending on changes in w during the interaction phase. We identified a phase space structure with three distinct types of behavioral coordination using comprehensive simulation experiments with sweeps of w of both robots during the interaction. Ignoring behavior in which the robots follow their own intention was observed in the region in which both ws were set to large values. One robot leading, followed by the other robot was observed when one w was set larger and the other was set smaller. Spontaneous, random turn-taking between the leader and the follower was observed when both ws were set at smaller or intermediate values. Finally, we examined a case of slowly oscillating w in anti-phase between the two agents during the interaction. The simulation experiment resulted in turn-taking in which the leader-follower relationship switched during determined sequences, accompanied by periodic shifts of ws. An analysis using transfer entropy found that the direction of information flow between the two agents also shifted along with turn-taking. Herein, we discuss qualitative differences between random/spontaneous turn-taking and agreed-upon sequential turn-taking by reviewing both synthetic and empirical studies.

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Cognitive and motor compliance in intentional human-robot interaction

Cited by 2 publications

References 0 publications

Towards hybrid primary intersubjectivity: a neural robotics library for human science

Towards hybrid primary intersubjectivity: a neural robotics library for human science

Turn-Taking Mechanisms in Imitative Interaction: Robotic Social Interaction Based on the Free Energy Principle

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