Safety in Human-Robot Interaction

................................................................................................................................................ii Table of

[1]  S. P. Gaskill,et al.  Safety issues in modern applications of robots , 1994 .

[2]  P. Lang.  The emotion probe. Studies of motivation and attention. , 1995, The American psychologist.

[3]  A.-J. Baerveldt.  Cooperation between man and robot: interface and safety , 1992, [1992] Proceedings IEEE International Workshop on Robot and Human Communication.

[4]  Narendra Ahuja,et al.  Gross motion planning—a survey , 1992, CSUR.

[5]  Kamal K. Gupta,et al.  The kinematic roadmap: a motion planning based global approach for inverse kinematics of redundant robots , 1999, IEEE Trans. Robotics Autom..

[6]  Koji Ikuta,et al.  Safety-optimizing method of human-care robot design and control , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[7]  Yusuf Altintas,et al.  High speed CNC system design. Part I: jerk limited trajectory generation and quintic spline interpolation , 2001 .

[8]  Alexander Zelinsky,et al.  Building Human-Friendly Robot Systems , 2000 .

[9]  Angel P. del Pobil,et al.  A hierarchy of detail for fast collision detection , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[10]  S. Knardahl.  Cardiovascular psychophysiology , 2000, Annals of medicine.

[11]  J. E. Rose,et al.  Autonomic Nervous System Activity Distinguishes Among Emotions , 2009 .

[12]  Takeo Kanade,et al.  Recognizing Action Units for Facial Expression Analysis , 2001, IEEE Trans. Pattern Anal. Mach. Intell..

[13]  M. Bradley,et al.  Measuring emotion: Behavior, feeling, and physiology , 2000 .

[14]  A. Zalzala,et al.  A genetic approach to motion planning of redundant mobile manipulator systems considering safety and configuration , 1997, J. Field Robotics.

[15]  Peter I. Corke,et al.  A robotics toolbox for MATLAB , 1996, IEEE Robotics Autom. Mag..

[16]  Oussama Khatib,et al.  Inertial Properties in Robotic Manipulation: An Object-Level Framework , 1995, Int. J. Robotics Res..

[17]  Stanley T. Birchfield,et al.  Elliptical head tracking using intensity gradients and color histograms , 1998, Proceedings. 1998 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (Cat. No.98CB36231).

[18]  Elizabeth A. Croft,et al.  Jerk-bounded manipulator trajectory planning: design for real-time applications , 2003, IEEE Trans. Robotics Autom..

[19]  Björn Karlsson,et al.  A dynamic safety system based on sensor fusion , 2000, J. Intell. Manuf..

[20]  James H. Graham,et al.  A neuro-fuzzy approach for robot system safety , 2001, IEEE Trans. Syst. Man Cybern. Syst..

[21]  Yoji Yamada,et al.  FTA-based issues on securing human safety in a human/robot coexistence system , 1999, IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028).

[22]  T. S. Polzin,et al.  Verbal and non-verbal cues in the communication of emotions , 2000, 2000 IEEE International Conference on Acoustics, Speech, and Signal Processing. Proceedings (Cat. No.00CH37100).

[23]  J. Cacioppo,et al.  Inferring psychological significance from physiological signals. , 1990, The American psychologist.

[24]  Irfan A. Essa,et al.  Detecting and tracking eyes by using their physiological properties, dynamics, and appearance , 2000, Proceedings IEEE Conference on Computer Vision and Pattern Recognition. CVPR 2000 (Cat. No.PR00662).

[25]  Carlos Hitoshi Morimoto,et al.  Real-time multiple face detection using active illumination , 2000, Proceedings Fourth IEEE International Conference on Automatic Face and Gesture Recognition (Cat. No. PR00580).

[26]  V. Javier Traver,et al.  Making service robots human-safe , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[27]  Cynthia Breazeal,et al.  Socially intelligent robots: research, development, and applications , 2001, 2001 IEEE International Conference on Systems, Man and Cybernetics. e-Systems and e-Man for Cybernetics in Cyberspace (Cat.No.01CH37236).

[28]  Alex Pentland,et al.  Pfinder: real-time tracking of the human body , 1996, Proceedings of the Second International Conference on Automatic Face and Gesture Recognition.

[29]  Alessandro De Luca,et al.  Collision detection and reaction: A contribution to safe physical Human-Robot Interaction , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[30]  Katsumi Takahashi,et al.  Human interface using PC display with head pointing device for eating assist robot and emotional evaluation by GSR sensor , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[31]  Koji Ikuta,et al.  Safety Evaluation Method of Design and Control for Human-Care Robots , 2003, Int. J. Robotics Res..

[32]  Jean-Claude Latombe,et al.  Robot Motion Planning: A Distributed Representation Approach , 1991, Int. J. Robotics Res..

[33]  Malcolm Slaney,et al.  Baby Ears: a recognition system for affective vocalizations , 1998, Proceedings of the 1998 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP '98 (Cat. No.98CH36181).

[34]  Kazuo Tanie,et al.  Human-Robot Cooperative Manipulation Using a Virtual Nonholonomic Constraint , 2002, Int. J. Robotics Res..

[35]  B. Parkinson,et al.  Emotion and motivation , 1995 .

[36]  Alessandro De Luca,et al.  Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[37]  Ying Wu,et al.  Wide-range, person- and illumination-insensitive head orientation estimation , 2000, Proceedings Fourth IEEE International Conference on Automatic Face and Gesture Recognition (Cat. No. PR00580).

[38]  Lisa M. Brown,et al.  Comparative study of coarse head pose estimation , 2002, Workshop on Motion and Video Computing, 2002. Proceedings..

[39]  Jennifer Healey,et al.  Toward Machine Emotional Intelligence: Analysis of Affective Physiological State , 2001, IEEE Trans. Pattern Anal. Mach. Intell..

[40]  Tatsuo Arai,et al.  Evaluation of human sense of security for coexisting robots using virtual reality. 1st report: evaluation of pick and place motion of humanoid robots , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[41]  J. Wiener,et al.  Measuring the activities of daily living: comparisons across national surveys. , 1990, Journal of gerontology.

[42]  Yoji Yamada,et al.  Human-robot contact in the safeguarding space , 1997 .

[43]  Alexander Zelinsky,et al.  Quantitative Safety Guarantees for Physical Human-Robot Interaction , 2003, Int. J. Robotics Res..

[44]  Nilanjan Sarkar,et al.  Psychophysiological control architecture for human-robot coordination-concepts and initial experiments , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[45]  B. Faverjon,et al.  Probabilistic Roadmaps for Path Planning in High-Dimensional Con(cid:12)guration Spaces , 1996 .

[46]  Antonio Bicchi,et al.  Compliant design for intrinsic safety: general issues and preliminary design , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[47]  Alexander Zelinsky,et al.  Behavior recognition based on head pose and gaze direction measurement , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[48]  Jean-Claude Latombe,et al.  Robot motion planning , 1991, The Kluwer international series in engineering and computer science.

[49]  Yoji Yamada,et al.  A failure-to-safety robot system for human-robot coexistence , 1996, Robotics Auton. Syst..

[50]  John R. Kender,et al.  Finding skin in color images , 1996, Proceedings of the Second International Conference on Automatic Face and Gesture Recognition.

[51]  O. Brock,et al.  Elastic Strips: A Framework for Motion Generation in Human Environments , 2002, Int. J. Robotics Res..

[52]  Volker Graefe,et al.  HERMES - a versatile personal robotic assistant , 2004, Proceedings of the IEEE.

[53]  John Kenneth Salisbury,et al.  A New Actuation Approach for Human Friendly Robot Design , 2004, Int. J. Robotics Res..

[54]  Nilanjan Sarkar,et al.  Anxiety detecting robotic system – towards implicit human-robot collaboration , 2004, Robotica.

[55]  Marian Stewart Bartlett,et al.  Classifying Facial Actions , 1999, IEEE Trans. Pattern Anal. Mach. Intell..

[56]  Yong Yu,et al.  Sensor-based probabilistic roadmaps: experiments with an eye-in-hand system , 2000, Adv. Robotics.

[57]  Nilanjan Sarkar,et al.  Online stress detection using psychophysiological signals for implicit human-robot cooperation , 2002, Robotica.

[58]  Alex Waibel,et al.  Tracking Focus of Attention for Human-Robot Communication , 2001 .

[59]  M. Dawson,et al.  The electrodermal system , 2007 .

[60]  Jian-Gang Wang,et al.  Study on eye gaze estimation , 2002, IEEE Trans. Syst. Man Cybern. Part B.

[61]  Toshio Tsuji,et al.  Noncontact impedance control for redundant manipulators , 1999, IEEE Trans. Syst. Man Cybern. Part A.

[62]  Alain Oustaloup,et al.  Path planning by fractional differentiation , 2003, Robotica.

[63]  O. Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[64]  A. A. Maciejewski,et al.  Obstacle Avoidance , 2005 .

[65]  Alessandro De Luca,et al.  Evaluation of Collision Detection and Reaction for a Human-Friendly Robot on Biological Tissues , 2008 .

[66]  Dana Kulic,et al.  Anxiety detection during human-robot interaction , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[67]  Ioannis Pitas,et al.  Segmentation and tracking of faces in color images , 1996, Proceedings of the Second International Conference on Automatic Face and Gesture Recognition.

[68]  A. ZelinskyResearch,et al.  The Essential Components of Human-Friendly Robot Systems , 1999 .

[69]  Takanori Shibata,et al.  Effects of robot-assisted activity for elderly people and nurses at a day service center , 2004, Proceedings of the IEEE.

[70]  Oussama Khatib,et al.  Towards A Human-Centered Intrinsically-Safe Robotic Manipulator , 2002 .

[71]  Alex Pentland,et al.  Coding, Analysis, Interpretation, and Recognition of Facial Expressions , 1997, IEEE Trans. Pattern Anal. Mach. Intell..

[72]  Mari Ostendorf,et al.  Automatic labeling of prosodic patterns , 1994, IEEE Trans. Speech Audio Process..

[73]  Narendra Ahuja,et al.  Detecting Faces in Images: A Survey , 2002, IEEE Trans. Pattern Anal. Mach. Intell..

[74]  Kamal K. Gupta,et al.  Motion planning for many degrees of freedom: sequential search with backtracking , 1995, IEEE Trans. Robotics Autom..

[75]  Z. Zenn Bien,et al.  Visual servoing for a user's mouth with effective intention reading in a wheelchair-based robotic arm , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[76]  Kazuhiko Kawamura,et al.  Intelligent robotic systems in service of the disabled , 1995 .

[77]  Kenneth Hugdahl,et al.  Cognition and the autonomic nervous system: Orienting, anticipation, and conditioning. , 2000 .

[78]  Yoji Yamada,et al.  Construction of a human/robot coexistence system based on a model of human will-intention and desire , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[79]  Jun-Hyeong Do,et al.  Soft Computing Based Emotion/Intention Reading for Service Robot , 2002, AFSS.

[80]  Willis J. Tompkins,et al.  Quantitative Investigation of QRS Detection Rules Using the MIT/BIH Arrhythmia Database , 1986, IEEE Transactions on Biomedical Engineering.

[81]  Yoji Yamada,et al.  Proposal of a psychophysiological experiment system applying the reaction of human pupillary dilation to frightening robot motions , 1999, IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028).

[82]  Alex Pentland,et al.  Perceptual Intelligence , 1999, HUC.

[83]  Patrick Pérez,et al.  Color-Based Probabilistic Tracking , 2002, ECCV.

[84]  Carlos Balaguer,et al.  Active human-mobile manipulator cooperation through intention recognition , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[85]  Dana Kulic,et al.  Estimating intent for human-robot interaction , 2003 .

[86]  Liang Zhao,et al.  Real-time head orientation estimation using neural networks , 2002, Proceedings. International Conference on Image Processing.

[87]  Koichi Kondo,et al.  Motion planning with six degrees of freedom by multistrategic bidirectional heuristic free-space enumeration , 1991, IEEE Trans. Robotics Autom..

[88]  Howie Choset,et al.  Sensor-Based Exploration: The Hierarchical Generalized Voronoi Graph , 2000, Int. J. Robotics Res..

[89]  Paolo Dario,et al.  Humans and technologies at home: from friendly appliances to robotic interfaces , 1996, Proceedings 5th IEEE International Workshop on Robot and Human Communication. RO-MAN'96 TSUKUBA.

[90]  Yung-Tsan Jou,et al.  Interactive control of human/robot sharing same workspace , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[91]  Maja Pantic,et al.  Automatic Analysis of Facial Expressions: The State of the Art , 2000, IEEE Trans. Pattern Anal. Mach. Intell..

[92]  Dana Kulic,et al.  Safe planning for human-robot interaction , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[93]  Tamio Arai,et al.  Human-robot cooperation with mechanical interaction based on rhythm entrainment-realization of cooperative rope turning , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).