Development of Anthropomorphic Soft Robotic Hand WSH-1RII

Endo, Nobutsuna; Kojima, Tetsuhito; Endo, Keita; Iida, Fumiya; Hashimoto, Kenji; Takanishi, Atsuo

doi:10.1007/978-3-7091-1379-0_22

Cited by 11 publications

(8 citation statements)

References 1 publication

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“…Table 2 summarizes the 19 adjective pairs used in the TSQ. Most of these pairs were selected from previous studies on touch sensations of artificial skins with eight adjective pairs [18] and touch sensations of robot hands with 10 adjective pairs [20]. Table 3 summarizes the 46 adjective pairs used in the PIQ.…”

Section: Questionnairesmentioning

confidence: 99%

“…Table 3 summarizes the 46 adjective pairs used in the PIQ. Most of these pairs were derived or selected from previous studies on personality impressions of robot hands with 12 pairs [20], impressions of hug dolls with 12 adjective pairs [19], quantification of impressions of humanoid robots with 33 adjective pairs, and meta-analysis of SD adjective pairs for personality impressions [23]. Thus, our adjective pairs were prepared such that we could investigate touch sensations and personality impressions thoroughly.…”

Section: Questionnairesmentioning

confidence: 99%

“…The touch sensations of robot skins [18], personality impressions of hugging dolls [19], and both the touch sensations and personality impressions of robot hands [20] were evaluated under different conditions, but the manner in which touch sensations affect personality impressions has not been reported so far. Therefore, touch sensations of robots have been determined intuitively and empirically and tuned in a try-and-error manner by designers.…”

Section: Introductionmentioning

confidence: 99%

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Investigation of Causal Relationship Between Touch Sensations of Robots and Personality Impressions by Path Analysis

Yamashita

Ishihara

Ikeda

et al. 2018

Int J of Soc Robotics

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Physical human-robot interaction plays an important role in social robotics, and touch is one of the key factors that influence a human's impression of robots. However, very few studies have explored different conditions pertaining to such interactions, and therefore, only few systematic results have been reported. As the first step toward addressing this issue, we studied the types of impressions of a robot's personality that humans may experience when they touch a soft part of the robot. In the study, the left forearm of a childlike android robot named "Affetto" was exposed; the original forearm was made of silicone rubber and can be replaced with any one of three other forearms that provide different sensations of hardness upon touching. Participants were asked to touch the robot's forearm and answer evaluation questionnaires on 19 touch sensations and 46 personality impressions for each of the four conditions associated with the different forearms. Four impression factors for touch sensations and three for personality impressions were extracted from the evaluation scores by the factor analysis method. The causal relationships between these factors were analyzed by the path analysis method. Several significant causal relationships were found, for example, between preferable touch sensations and likable personality impressions. The study results are expected to help in the design of the personality impressions of robots by facilitating a more systematic design of touch sensations. Furthermore, the results of an analysis of variance suggested that the most preferable touch sensation is possibly related to the robot's appearance and that designers of social robots should understand the complex touch sensation properties of humans.

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Section: Questionnairesmentioning

confidence: 99%

Section: Questionnairesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Investigation of Causal Relationship Between Touch Sensations of Robots and Personality Impressions by Path Analysis

Yamashita

Ishihara

Ikeda

et al. 2018

Int J of Soc Robotics

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“…The hand contained offthe-shelf RC servos with angle and feedforward current based torque sensing. In 2013, Endo et al presented second refined version of the Waseda Soft Hand (WSH-1RII) designed for humanoid service robots [144]. 14 sheet force sensors (FlexiForce) were distributed over finger pads and covered with soft "skin".…”

Section: B Research Platformsmentioning

confidence: 99%

Sensors for Robotic Hands: A Survey of State of the Art

Saudabayev

Varol

2015

IEEE Access

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Abstract-Recent decades have seen significant progress in the field of artificial hands. Most of the surveys, which try to capture the latest developments in this field, focused on actuation and control systems of these devices. In this work, our goal is to provide a comprehensive survey of the sensors for artificial hands. In order to present the evolution of the field, we cover five year periods starting at the turn of the millennium. At each period, we present the robot hands with a focus on their sensor systems dividing them into categories such as prosthetics, research devices and industrial end-effectors. We also cover the sensors developed for robot hand usage in each era. Finally, the period between 2010 and 2015 introduces the reader the state-ofthe-art and also hints to the future directions in the sensor development for artificial hands.

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“…To overcome this issue, a number of studies examined the causal relationships between robot features, such as its appearance and voice, and the personality impressions of the robot [1,2,10,15,16,17,19]. In contrast, touch sensations and overall impressions (or personality impressions) of robots have only been investigated independently [4,16,22] in most cases. The relationships between them should be investigated because the opportunities for humans to touch robots are expected to increase, and the humans' impressions are important for communication robots.…”

Section: Introductionmentioning

confidence: 99%

Appearance of a Robot Influences Causal Relationship between Touch Sensation and the Personality Impression

Yamashita

Ishihara

Ikeda

et al. 2017

Proceedings of the 5th International Conference on Human Agent Interaction

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Personality impressions of robots have been regarded as one of the crucial factors in human-robot interaction. To design the personality impressions, we should know how the visual, auditory, and tactile impressions determine the personality impressions. In this study, we investigated the relationships between touch sensations and personality impressions with a child-type android robot in two conditions where 40 Japanese participants touched a part of the robot with different appearance of the face. Factor and path analyses were conducted on the evaluation scores of the sensations and impressions provided by the participants. As a result, two significant positive causal relationships (p < 0.001) were found between the Preference and Resilience touch sensations, and the Likability and Capability personality impressions, respectively, in both robot conditions. On the other hand, several other causal relationships were found only in one condition. This suggests that there are appearance-dependent and appearance-independent relationships between touch sensations and personality impressions.

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Development of Anthropomorphic Soft Robotic Hand WSH-1RII

Cited by 11 publications

References 1 publication

Investigation of Causal Relationship Between Touch Sensations of Robots and Personality Impressions by Path Analysis

Investigation of Causal Relationship Between Touch Sensations of Robots and Personality Impressions by Path Analysis

Sensors for Robotic Hands: A Survey of State of the Art

Appearance of a Robot Influences Causal Relationship between Touch Sensation and the Personality Impression

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