RO-MAN 2009: The 18th IEEE International Symposium on and Human Interactive Communication

Toyama, Japan

27 September – 2 October 2009

Pages 1-609

IEEE Catalog Number: CFP09RHC-PRT ISBN: 978-1-4244-5080-0 TABLE OF CONTENTS

My Robotic Doppelgänger: A Critical Look at the Uncanny Valley ...... 1 Christoph Bartneck, Takayuki Kanda, Hiroshi Ishiguro, Norihiro Hagita

Can an Persuade You?...... 9 Kohei Ogawa, Christoph Bartneck, Daisuke Sakamoto, Takayuki Kanda, Tetsuo Ono, Hiroshi Ishiguro

Real-Time Face Detection for Human Robot Interaction ...... 15 Yaozhang Pan, Shuzhi Sam Ge, Hongsheng He, Lei Chen

Investigating the Contributing Factors to Make Users React Toward an On-Screen Agent As If They Are Reacting Toward a Robotic Agent...... 21 Takanori Komatsu, Nozomi Kuki

Behavior Labeling Algorithms from Accumulated Sensor Data Matched to Usage of Livelihood Support Application ...... 27 Kana Oshima, Ryo Urushibata, Akinori Fujii, Hiroshi Noguchi, Masamichi Shimosaka, Tomomasa Sato, Taketoshi Mori

Gait Pattern Generation for a Power-Assist Device of Paraplegic Gait...... 34 Takahiro Kagawa, Yoji Uno

Discrimination of Emotion from Movement and Addition of Emotion in Movement to Improve Human-Coexistence Robot's Personal Affinity ...... 40 Takafumi Matsumaru

Handover Movement Informing Receiver of Weight Load as Informative Motion Study for Human- Friendly Robot ...... 48 Takafumi Matsumaru

Control of a Power Assist Robot for Lifting Objects Based on Human Operator's Perception of Object Weight ...... 55 S. M. Mizanoor Rahman, Ryojun Ikeura, Masaya Nobe, Hideki Sawai

Modeling and Identification of 2 DOF Low Cost Driving Simulator: Experimental Results...... 62 Hichem Arioui, Salim Hima, Lamri Nehaoua

Optimal Arrangement of Ceiling Cameras for Home Service Using Genetic Algorithms...... 68 Stefanos Nikolaidis, Tamio Arai

An Experimental Investigation of Interference Effects in Human-Humanoid Interaction Games ...... 76 Qiming Shen, Hatice Kose-Bagci, Joe Saunders, Kerstin Dautenhahn

Visible Classification of Task-Switching Strategies in Vehicle Operation ...... 84 Satoshi Suzuki, Fumio Harashima

Effects of Visual Appearance on the Attribution of Applications in Social ...... 90 Frank Hegel, Manja Lohse, Britta Wrede

Eternal Sharpener - A Rotational Haptic Display That Records and Replays the Sensation of Sharpening a Pencil...... 98 Yuichiro Kojima, Yuki Hashimoto, Hiroyuki Kajimoto

Teaching a : Headset-Free Speech Interaction for Audio-Visual Association Learning ...... 102 Martin Heckmann, Holger Brandl, Jens Schmuedderich, Xavier Domont, Bram Bolder, Inna Mikhailova, Herbert Janssen, Michael Gienger, Achim Bendig, Tobias Rodemann, Mark Dunn, Frank Joublin, Christian Goerick

Development of Power-Assist Robot Arm Using Pneumatic Rubber Muscles with a Balloon Sensor...... 108 Kazuo Kadota, Masao Akai, Kenji Kawashima, Toshiharu Kagawa

Evaluation of Impression for Virtual and Real Robots ...... 114 Kenichi Ohara, Shunsuke Negi, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

Resolving Ambiguities in a Grounded Human-Robot Interaction ...... 120 Haris Dindo, Daniele Zambuto

Teaching Sequences to a Social Robot by Voice Interaction...... 127 Javi F. Gorostiza, Miguel A. Salichs

User-Adaptive Interface Based on Symbol Matching for In-Vehicle Information Systems ...... 133 Sang-Ho Kim, Kosuke Sekiyama, Toshio Fukuda

Development of Wearable Master-Slave Training Device Constructed with Pneumatic Rubber Muscles ...... 139 Daisuke Sasaki, Toshiro Noritsugu

Elevator Available Voice Activated Wheelchair ...... 145 Akira Murai, Masaharu Mizuguchi, Takeshi Saitoh, Tomoyuki Osaki, Ryosuke Konishi

Tactile Mapping Approach Using Electrical Stimulus Pattern...... 151 Shunsuke Yoshimoto, Yoshihiro Kuroda, Yoshiyuki Kagiyama, Tomohiro Kuroda, Osamu Oshiro

Development of a Head Rotation Interface by Using Hanger Reflex ...... 157 Michi Sato, Matsue Rika, Yuki Hashimoto, Hiroyuki Kajimoto

Inter-Personal Interaction for Handwrite Training ~ a Study for Development of Handwrite Skill Training Robot ~...... 162 Takeshi Muto, Setsu Komiyama, Riko Ishikawa

A Life-Size Robotic Lion Dance System with Integrated Motion Control...... 168 Boon Siew Han, Desmond Ho, Adrian Tay, Tzer Liang Ng, Ai Ping Yow, I-Ming Chen, Song Huat Yeo, Haizhou Li

The Humanoid Museum Tour Guide Robotinho ...... 174 Felix Faber, Maren Bennewitz, Clemens Eppner, Attila Goeroeg, Christoph Gonsior, Dominik Joho, Michael Schreiber, Sven Behnke

Facial Feature Localization Using Statistical Models and SIFT Descriptors ...... 180 Zisheng Li, Jun-Ichi Imai, Masahide Kaneko

Development of an Attendant Robot That Builds a Map by Collaborating with a Human ...... 186 Hideichi Nakamoto, Nobuto Matsuhira

A Facial Expression Recognition for a Speaker of a Phoneme of Vowel Using Thermal Image Processing and a Speech Recognition System...... 192 Yasunari Koda, Yasunari Yoshitomi, Mari Nakano, Masayoshi Tabuse

Obtaining an Object Position Using Multimodal Interaction for a Service Robot...... 198 Masaya Iwasawa, Yusuke Fukusato, Eri Sato-Shimokawara, Toru Yamaguchi

Timing Control of Utterance and Gesture in Interaction between Human and Humanoid Robot...... 204 Yumiko Muto, Shoji Takasugi, Tomohito Yamamoto, Yoshihiro Miyake

Measuring Acceptance of an Assistive Social Robot: A Suggested Toolkit...... 211 Marcel Heerink, Ben Krose, Vanessa Evers, Bob Wielinga

Real Time Tracking by Vision Simplifying the Interaction between Human and Robot for Remote Control of Mobile Robot ...... 217 Patrick Bonnin, Pierre Blazevic, Joel Morillon, Cecile Fialaire, Jean-Sebastien Benoist

Human Forces in Hands Free Interaction: A New Paradigm for Immersive Virtual Environments...... 223 Paolo Tripicchio, Oscar Osvaldo Sandoval Gonzalez, Alessandro Filippeschi, Emanuele Ruffaldi, Carlo Alberto Avizzano, Massimo Bergamasco

Experimental Analysis of Dominance in Haptic Collaboration ...... 230 Raphaela Groten, Daniela Feth, Harriet Goschy, Angelika Peer, David A. Kenny, Martin Buss

Control-Theoretic Model of Haptic Human-Human Interaction in a Pursuit Tracking Task...... 237 Daniela Feth, Raphaela Groten, Angelika Peer, Martin Buss

Coordinated Multi-Focal Feature Tracking for an Interactive Mobile Robot ...... 243 Tingting Xu, Yi Guo, Kolja Kuhnlenz, Martin Buss

Towards Retro-Projected Robot Faces: An Alternative to Mechatronic and Android Faces...... 249 Frederic Delaunay, Joachim De Greeff, Tony Belpaeme

Dynamic Perception-Control Coupling for Anticipative Road Following on Satellite-Roadway-Vehicle Network ...... 255 Kohji Kamejima

Effectiveness Evaluation of Precomputation Search Using Steering Set...... 261 Yumiko Suzuki, Simon Thompson, Satoshi Kagami

Incremental Reconstruction of Texture Based on Spatial Information ...... 267 Xianming Ye, Hyungpil Moon, Hyouk Ryeol Choi

A Basic System Using Simple Analog Motion Detection Circuit Based on the Biological Vision System and Mobile Robot ...... 273 Kimihiro Nishio

Online Acquisition and Visualization of Motion Primitives for Humanoid Robots...... 277 Dana Kulic, Hirotaka Imagawa, Yoshihiko Nakamura

Visual Motion Capture from an Interactive Robot...... 283 Mathias Fontmarty, Frederic Lerasle, Patrick Danes

Adaptation of Robot Behaviors Toward User Perception on Fuzzy Linguistic Information by Fuzzy Voice Feedback ...... 289 Buddhika Prabhath Jayasekara Anandasetti Gamaethiralalaya, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

Towards an EEG-Based Emotion Recognizer for Humanoid Robots...... 295 Kristina Schaaff, Tanja Schultz

A Technique for Dynamic Background Segmentation Using a Robotic Stereo Vision Head ...... 300 Jose Augusto Prado, Santos Luis, Jorge Dias

Development for an Interactive Communication Display for Blind Computer Users ...... 306 Shigenobu Shimada, Suguru Yamamoto, Yusuke Uchida, Masami Shinohara, Yutaka Shimizu, Makoto Shimojo

Compact Braille Display Using SMA Wire Array ...... 312 Feng Zhao, Keishi Fukuyama, Hideyuki Sawada

Real-Time Inspection of Surface Irregularity by Finger-Mounted Tactile Sensor ...... 318 Yoshihiro Tanaka, Hideo Sato, Hideo Fujimoto

Adding Tactile Reaction to Hologram ...... 324 Takayuki Hoshi, Daisu Abe, Hiroyuki Shinoda

Characteristics of Robot As Interface for Information Access ...... 329 Yasufumi Takama, Hiroki Namba

Comparison of Spatial and Temporal Characteristic between Reflection-Type Tactile Sensor and Human Cutaneous Sensation...... 335 Satoshi Saga, Masashi Konyo, Koichiro Deguchi

Evaluations of Embedded Modules Dedicated to Multimodal Human-Robot Interaction...... 341 Brice Burger, Frederic Lerasle, Isabelle Ferrane

Digital Representation of SKILLS for Human Robot Interaction ...... 347 Carlo Alberto Avizzano, Emanuele Ruffaldi, Massimo Bergamasco

A Method for Synchronizing Nods of a CG Character and a Human Using Thermal Image Processing...... 353 Ryota Kato, Yasunari Yoshitomi, Taro Asada, Yoko Fujita, Masayoshi Tabuse

A Fuzzy Theory in the Risk Assessment and Reduction Algorithms for a Human Centered Robotics ...... 359 Olesya Ogorodnikova

EmI - My Emotional Cuddly Companion...... 365 Sebastien Saint-Aime, Brigitte Le-Pevedic, Sabine Letellier-Zarshenas, Dominique Duhaut

How Robots' Questions Affect the Accuracy of the Human Responses ...... 371 Stephanie Rosenthal, Anind Dey, Manuela Veloso

Age and Gender Factors in User Acceptance of Healthcare Robots ...... 377 I Han Kuo, Joel Marcus Rabindran, Elizabeth Broadbent, Yong In Lee, Ngaire Kerse, Rebecca McAulay Quinlan Stafford, Bruce MacDonald

Sketching the Future: Assessing User Needs for Domestic Robots...... 383 Jayoung Sung, Henrik Iskov Christensen, Rebecca Elizabeth Grinter

Development of a 3D Pointing Voice Interface Using a Three-Axis Microphone Array ...... 389 Yasuharu Hashimoto, Akira Sasou

Identification and Control for an Unknown Robot in Intelligent Space ...... 395 Joo-Hyung Kim, Jeong-Eum Lee, Hyun-Gu Lee, Gwi-Tae Park

A Dynamic Model and System-Theoretic Analysis of Affect Based on a Piecewise Linear System...... 401 Michelle Karg, Stephan Haug, Kolja Kuhnlenz, Martin Buss

Accelerometer-Based Control of an Industrial Robotic Arm ...... 408 Pedro Neto, Norberto Pires, Antonio Paulo Moreira

Designing Modular Robotic Playware ...... 414 Henrik Hautop Lund, Patrizia Marti

Showing Awareness of Humans' Context to Involve Humans in Interaction...... 421 Yasuhiko Hato, Thomas Georg Kanold, Kentaro Ishii, Michita Imai

Retirement Home Staff and Residents' Preferences for Healthcare Robots...... 427 Elizabeth Broadbent, Rie Tamagawa, Ngaire Kerse, Brett Knock, Anna Patience, Bruce MacDonald

Robust Trajectory Segmentation and Modeling for Programming Mobile Robots by Demonstration...... 433 Tanveer Abbas, Bruce MacDonald

Can Robotic Emotional Expressions Induce a Human to Empathize with a Robot?...... 439 Eun Ho Kim, Sonya Sona Kwak, Yoon Keun Kwak

Rebo: A Remote Control with Strokes...... 444 Kazuki Kobayashi, Yutaro Nakagawa, Seiji Yamada, Shinobu Nakagawa, Yasunori Saito

Analysis of the EEG During the Sleeping by the Rhythmic Component Extraction ...... 450 Yohei Tomita, Yasue Mitsukura, Toshihisa Tanaka, Jianting Cao

Development of a Contact Width Sensor for Tactile Tele-Presentation of Softness ...... 456 Fuminobu Kimura, Akio Yamamoto, Toshiro Higuchi

Research on Intelligent Motorized Prosthetic Hand by Functional Analysis of Human Hand at Near Future ...... 462 Yukio Saito, Takanori Higashihara, Kengo Ohnishi, Atushi Umemura

Development of a Human Symbiotic Assist Arm PAS-Arm : Design of CVT ...... 468 Mineo Higuchi, Tsukasa Ogasawara

Make Your Own Robots to Play and Learn With! ...... 475 Yunyoung Hur, Miae Choi, Jeonghye Han

Multi-Point Multi-Hand Haptic Teleoperation of a Mobile Robot...... 476 Ben Horan, Zoran Najdovski, Saeid Nahavandi

Teaching a Humanoid: A User Study on Learning by Demonstration with HOAP-3 ...... 483 Astrid Weiss, Judith Igelsbuck, Sylvain Calinon, Aude Billard, Manfred Tscheligi

COMPANION: A Constraint-Optimizing Method for Person-Acceptable Navigation...... 489 Rachel Kirby, Reid Simmons, Jodi Forlizzi

Development of a Vision-Based Interface for Instructing Robot Motion...... 495 Junichi Sugiyama, Jun Miura

Robots in Mental Therapy: Its Possibility and Danger ...... 501 Tatsuya Nomura

Human Evaluation of Affective Body Motions Expressed by a Small-Sized Humanoid Robot: Comparison between Elder People and University Students ...... 505 Tatsuya Nomura, Akira Nakao

Online Object Modeling Method for Occlusion-Robust Tracking ...... 511 Jun-Ichi Imai, Wei-Ming Li, Masahide Kaneko

Study on a Wearable Elbow Joint Capable of Mechanical Adjustment of Stiffness...... 517 Tetsuya Morizono, Tadahisa Komiya, Masatake Higashi

Helping Robots Imitate: Metrics and Technological Solutions Inspired by Human Behaviour ...... 523 Aris Alissandrakis, Nuno Otero, Joe Saunders

Macro-Micro Tele-Manipulation System Based on Body Image Embedding with Contact Feel, Spatial Motion and Stereo Vision...... 529 Hiromi Mochiyama, Takeyuki Dohda, Hisato Kobayashi, Junya Tatsuno, Hiroyuki Kawai

Human Factors Studies in Information Support Development for Human-Robot Collaborative Cellular Manufacturing System ...... 535 Jeffrey Too Chuan Tan, Ye Zhang, Feng Duan, Kei Watanabe, Ryu Kato, Tamio Arai

Human-Robot Interface Using Robust Speech Recognition and User Localization Based on Noise Separation Device ...... 541 Kiyoung Park, Sung Joo Lee, Ho-Young Jung, Yunkeun Lee

Real Time Detection and Evaluation of Region of Interest by Mobile Robot Using Vision ...... 547 Md. Rokunuzzaman, Kosuke Sekiyama, Toshio Fukuda

Attribution of Identity in Autonomous Action...... 553 Hikaru Nakagami, Yugo Takeuchi

The Virtual COM Joints Approach for Whole-Body RH-1 Motion...... 559 Paolo Pierro, Concha Monje, Carlos Balaguer

A Comparison of Three Interfaces Using Handheld Devices to Intuitively Drive and Show Objects to a Social Robot: The Impact of Underlying Metaphors...... 565 Pierre Rouanet, Jerome Bechu, Pierre-Yves Oudeyer

Improvement of Linear Actuator with ER Gel ...... 572 Kentarou Sato, Ken'Ichi Koyanagi, Kakinuma Yasuhiro, Hidenobu Anzai, Koji Sakurai, Toru Oshima

Composition of Musical Sound to Express Robot's Emotion with Intensity and Synchronized Expression with RobotÂ?s Behavior...... 578 Eun-Sook Jee, Soon-Young Park, Chong Hui Kim, Hisato Kobayashi

Generating Artificial Smile Variations Based on a Psychological System-Theoretic Approach...... 584 Isabell Borutta, Stefan Sosnowski, Michael Zehetleitner, Norbert Bischof, Kolja Kuhnlenz

As Time Goes By: Long-Term Evaluation of Social Presence in Robotic Companions...... 590 Iolanda Leite, Carlos Martinho, Andre Tiago Pereira, Ana Paiva

Human to Robot Demonstrations of Routine Home Tasks: Adaptation to the Robot's Preferred Style of Demonstration ...... 596 Aris Alissandrakis, Yoshihiro Miyake

Hand It Over or Set It Down: A User Study of Object Delivery with an Assistive Mobile Manipulator...... 602 Young Sang Choi, Tiffany Chen, Advait Jain, Cressel Anderson, Jonathan Glass, Charlie Kemp

Therapeutic and Educational Objectives in Robot Assisted Play for Children with Autism...... 610 Ester Ferrari, Ben Robins, Kerstin Dautenhahn

Mobile Robot with Following and Returning Mode ...... 617 Naoki Tsuda, Shuji Harimoto, Takeshi Saitoh, Ryosuke Konishi

The Birth Story of Robot, IROBIQ for Children's Tolerance ...... 623 Jeonghye Han, Seungmin Lee, Eunja Hyun, Bok Hyun Kang, Kyung Chul Shin

Practical Issues on Robotic Education and Challenges towards RoboEthics Education...... 624 Jorge Solis, Atsuo Takanishi

Virtual Cutter Path Display for Dental Milling Machine...... 629 Terauki Ito, Takashi Niwa, Alexander Slocum

Characterising a Novel Interface for Event-Based Haptic Grasping ...... 635 Zoran Najdovski, Saeid Nahavandi

Prediction of Head-Rotation Movements Using Neck EMG Signals for Auditory Tele-Existence Robot "TeleHead" ...... 641 Ken-Ichi Morishige, Takayuki Kurokawa, Masayuki Kinoshita, Hironobu Takano, Tatsuya Hirahara

Intelligent System of the Spider Robot for the Various Moving Functions ...... 648 Jong Hyung Kim, Hyun Jun Ko, Sung Ho Kim, Myung Gu Ji, Jae Bin Lee

An Embodied Virtual Communication System with a Speech-Driven Embodied Entrainment Picture...... 654 Yoshihiro Sejima, Tomio Watanabe

Robots as Animals: A Framework for Liability and Responsibility in Human-Robot Interactions...... 660 Enrique Schaerer, Richard Kelley, Monica Nicolescu

Panoramic Vision and LRF Sensor Fusion Based Human Identification and Tracking for Autonomous Luggage Cart...... 666 Mehrez Kristou, Akihisa Ohya, Shinichi Yuta

An Ethical Discussion on Introducing Rehabilitation Robots for People with Disabilities ...... 672 Noriyuki Tejima

A General Behavior Generation Module for Emotional Robots Using Unit Behavior Combination Method...... 675 Deukey Lee, Ho Seok Ahn, Jin Young Choi

Fast Hand Gesture Recognition Based on Saliency Maps: An Application to Interactive Robotic Marionette Playing ...... 681 Mostafa Ajallooeian, Ali Borji, Babak Nadjar Araabi, Majid Nili Ahmadabadi, Hadi Moradi

Passive Force Display Method to Actualize Virtual Clay...... 688 Yutaro Ogawa, Ken'Ichi Koyanagi, Toru Oshima

Effect of Touching Manner and Motion Direction of Human Finger on Human Tactile Recognition...... 694 Takuya Kawamura, Yuki Otobe, Kazuo Tani

Gestural Teleoperation of a Mobile Robot Based on Visual Recognition of Sign Language Static Handshapes ...... 700 Costas S. Tzafestas, Nikos Mitsou, Nikos Georgakarakos, Olga Diamanti, Petros Maragos, Stavroula-Evita Fotinea, Eleni Efthimiou

Controlling the Robot Using the Brain Signals ...... 707 Genci Capi

Evaluation of a Novel Biologically Inspired Trajectory Generator in Human-Robot Interaction ...... 712 Markus Huber, Helmuth Radrich, Cornelia Wendt, Markus Rickert, Alois Knoll, Thomas Brandt, Stefan Glasauer

Constructing Continuous Action Space from Basis Functions for Fast and Stable Reinforcement Learning ...... 718 Akihiko Yamaguchi, Jun Takamatsu, Tsukasa Ogasawara

Age and Gender Estimation System Based on Human Perception...... 725 Hironobu Fukai, Hironori Takimoto, Yasue Mitsukura, Minoru Fukumi

Effects of Emotional Synchronization in Human-Robot KANSEI Communications ...... 731 Minoru Hashimoto, Misaki Yamano, Tatsuya Usui

Exploring Play Styles with a Robot Companion ...... 737 Patrizia Marti, Leonardo Giusti, Alessandro Pollini

Nonverbal Humor As a New Dimension of HRI ...... 743 Cornelia Wendt, Guy Berg

The Use of Robots in Early Education: A Scenario Based on Ethical Consideration...... 749 Fumihide Tanaka, Takeshi Kimura

Directionality of Human Tactile Sensation Capability in Discriminating Fine Step-Heights ...... 752 Naoki Tanaka, Takuya Kawamura, Kazuo Tani

Relations between Eye Gaze and Cognitive Factors in a Transportation Task Using Remote Control...... 758 Harumi Kobayashi, Tetsuya Yasuda, Shuichi Nakata, Satoshi Suzuki

Development of Bilateral Wearable Device ``Kento'' for Control Robots Using Muscle Actuator Modules ...... 764 Kazuo Hongo, Mariko Yoshida, Yuto Nakanishi, Ikuo Mizuuchi, Masayuki Inaba

Design Guideline of Anthropomorphic Sound Feedback for Service Robot Malfunction-With Emphasis on the Vacuum Cleaning Robot ...... 770 Bomi Kim, Sonya Sona Kwak, Myung Suk Kim

Handling Capabilities of Two Robot Hands Equipped with Optical Three-Axis Tactile Sensor...... 776 Hanafiah Yussof, Nobuyuki Morisawa, Jiro Wada, Masahiro Ohka

"The Japanese Way of Robotics": Interacting "Naturally" with Robots As a National Character?...... 782 Cosima Wagner

Entertainment Robot Personality Design Based on Basic Factors of Motions: A Case Study with ROLLY...... 788 Jaewook Kim, Sonya Sona Kwak, Myung Suk Kim

A Proposal of Estimation System for Concentration Situation by Using Acceleration Sensor ...... 794 Masashi Okubo, Aya Fujimura

Learning to Understand Parameterized Commands through a Human-Robot Training Task...... 800 Anja Austermann, Seiji Yamada

Ungrounded Kinesthetic Pen for Haptic Interaction with Virtual Environments ...... 806 Sho Kamuro, Kouta Minamizawa, Naoki Kawakami, Susumu Tachi

Human Action and Experience As Basis for the Design and Study of Robotic Artefacts...... 812 Ylva Fernaeus

Design of Differential Near-Infrared Spectroscopy Based Brain Machine Interface ...... 818 Hiroshi Matsuyama, Hajime Asama, Mihoko Otake

Assessing Human Reactions to Different Robot Attachment Profiles...... 824 Antoine Hiolle, Kim A. Bard, Lola Canamero

Play, Belief and Stories about Robots: A Case Study of a Pleo Blogging Community...... 830 Mattias Jacobsson

Making Environments As Canvases - Ubiquitous Display, from 2D to 3D -...... 836 Joo-Ho Lee, Satoshi Miyashita, Kousuke Azuma

The Role of Physical Embodiment of a Therapist Robot for Individuals with Cognitive Impairments...... 837 Adriana Tapus, Cristian Tapus, Maja Mataric

Adaptive Human Aware Navigation Based on Motion Pattern Analysis...... 842 Soren Tranberg Hansen, Mikael Svenstrup, Hans Jorgen Andersen, Thomas Bak

Choregraphe : A Graphical Tools for Humanoid Robot Programming ...... 848 Emmanuel Pot, J. Monceaux, Rodolphe Gelin, Bruno Maisonnier

Picking up Dishes Based on Active Groping with Multisensory Robot Hand ...... 854 Junya Fujimoto, Ikuo Mizuuchi, Yoshinao Sodeyama, Kunihiko Yamamoto, Naoya Muramatsu, Shigeki Ohta, Toshinori Hirose, Kazuo Hongo, Kei Okada, Masayuki Inaba

Frequency Modulation Based Vibrotactile Feedback for 1-D and 2-D Pointing Tasks in Virtual Reality...... 860 Huynh Phong Pham, Ryad Chellali, Mehdi Ammi, Jean-Guy Fontaine

Interactive Motion Planning for Assembly Tasks...... 867 David Flavigne, Michel Taix

A Multi-Level Collaborative Driving Framework for Autonomous Vehicles...... 873 Junqing Wei, John M. Dolan

Comparison of Visual and Vibration Displays for Finding Spatial Memory in Intelligent Space...... 879 Mihoko Niitsuma, Hideki Hashimoto

Block Comparison Based Face Identification Using HOG Feature...... 885 Woo-Han Yun, Dohyung Kim, Hosub Yoon, Byoungyoul Song

An Initial Memory Model for Virtual and Robot Companions Supporting Migration and Long-Term Interaction...... 889 Wan Ching Ho, Meiyii Lim, Patricia A. Vargas, Sibylle Enz, Kerstin Dautenhahn, Ruth Aylett

Investigation on People Living with Paro at Home Effects of Sex Difference and Owners' Animal Preference...... 897 Takanori Shibata, Yukitaka Kawaguchi, Kazuyoshi Wada

Towards a Minimal Interaction Scheme: Initial Observations on Gesture Repertoire and Communication Strategies...... 903 Anders Green

A Probabilistic Approach for Attention-Based Multi-Modal Human-Robot Interaction ...... 909 Momotaz Begum, Fakhri Karray, K. I. Mann, Raymond G. Gosine

Feedback Interpretation Based on Facial Expressions in Human-Robot Interaction ...... 915 Christian Lang, Marc Hanheide, Manja Lohse, Heiko Wersing, Gerhard Sagerer

Development of Robot Leg Which Provided with the Bi-Articular Actuator for Training Techniques of Rehabilitation ...... 921 Shinya Shimizu, Noboru Momose, Toru Oshima, Ken'Ichi Koyanagi

Whole Body Emotion Expressions for Humanoid Robot - Preliminary Experiments with Different Emotional Patterns - ...... 927 Massimiliano Zecca, Yu Mizoguchi, Keita Endo, Fumiya IIda, Yousuke Kawabata, Nobutsuna Endo, Kazuko Itoh, Atsuo Takanishi

"The First Five Seconds": Contingent Stepwise Entry into an Interaction as a Means to Secure Sustained Engagement in HRI...... 933 Karola Pitsch, Hideaki Kuzuoka, Yuya Suzuki, Luise Sussenbach, Paul Keith Luff, Christian Heath

Effects of Social Exploration Mechanisms on Robot Learning...... 940 Maya Cakmak, Nick Depalma, Andrea Lockerd Thomaz, Rosa Arriaga

Role Sharing Analysis on Multi-Operator Cooperative Work ...... 947 Hiroshi Igarashi, Satoshi Suzuki, Harumi Kobayashi, Fumio Harashima

Physical Interaction Learning: Behavior Adaptation in Cooperative Human-Robot Tasks Involving Physical Contact ...... 953 Shuhei Ikemoto, Heni Ben Amor, Takashi Minato, Hiroshi Ishiguro, Bernhard Jung

Efficient Parsing of Spoken Inputs for Human-Robot Interaction...... 959 Pierre Lison, Geert-Jan Kruijff

Vib-Touch: Virtual Active Touch Interface for Handheld Devices...... 965 Sho Tsuchiya, Masashi Konyo, Hiroshi Yamada, Takahiro Yamauchi, Shogo Okamoto, Satoshi Tadokoro

The Role of Attention in Robot Self-Awareness...... 971 Rony Novianto, Mary-Anne Williams

Directed Attention - a Cognitive Vision System for a Mobile Robot...... 978 Niklas Beuter, Okko Lohmann, Joachim Schmidt, Franz Kummert

Motion Capture and Classification for Real-Time Interaction with a Bipedal Robot Using On-Body, Fully Wireless, Motion Capture Specknets ...... 985 Dk Arvind, Michal Bartosik

Robotic Transportation System for Shopping Support Services ...... 991 Seiji Tokura, Tsuyoshi Tasaki, Takafumi Sonoura, Masahito Sano, Nobuto Matsuhira, Kiyoshi Komoriya

Social Balancing Effect of Eye Contact...... 992 Michihiro Shimada, Yuichiro Yoshikawa, Hiroshi Ishiguro

The IbnSina Center: An Augmented Reality Theater with Intelligent Robotic and Virtual Characters...... 998 Nikolaos Mavridis, David Hanson

Rhythmic Attention in Child-Robot Dance Play...... 1004 Marek Michalowski, Reid Simmons, Hideki Kozima

The IbnSina Interactive Theater: Where Humans, Robots and Virtual Characters Meet ...... 1010 Nikolaos Mavridis, David Hanson

Development of Intelligent Passive Cane Controlled by Servo Brakes ...... 1011 Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge

Incorporating a User Model to Improve Detection of Unhelpful Robot Answers...... 1017 Maxim Makatchev, Reid Simmons

Learning Together: ASIMO Developing an Interactive Learning Partnership with Children...... 1023 Sandra Okita, Victor Ng-Thow-Hing, Ravi Kiran Sarvadevabhatla

Beat Gesture Generation Rules for Human-Robot Interaction ...... 1029 Paul Bremner, Tony Pipe, Mike Fraser, Sriram Subramanian, Chris Melhuish

Towards a Model of Emotion Expression in an Interactive Robot Head...... 1035 John Christopher Murray, Lola Canamero, Antoine Hiolle

Active and Efficient Motor Skill Learning Method Used in a Haptic Teleoperated System...... 1041 Nadia Vanessa Garcia, Vicente Parra

Recognizing Human Intentional Actions from the Relative Movement between Human and Robot...... 1047 Seongyong Koo, Dong-Soo Kwon

Robot's Individual Emotion Generation Model and Action Coloring According to the Robot's Personality...... 1053 Jong-Chan Park, Hyoung-Rock Kim, Young-Min Kim, Dong-Soo Kwon

ET Rescue Robot ...... 1059 Olarn Wongwirat, Sitthisak Paelaong, Supansa Homchoo

Formal Concept Analysis for System Awareness of Operators ...... 1060 Tatsuo Motoyoshi, Hiroshi Kawakami, Takayuki Shiose, Osamu Katai

Environment Based Memory Storing and Recalling Functions in Intelligent Space ...... 1066 Joo-Ho Lee, Seong-Oh Lee, Ryuhei Sakurai, Tatsuya Nishizawa

Practical Map Building Method for Service Robot Using EKF Localization Based on Statistical Distribution of Noise Parameters ...... 1072 Yu-Cheol Lee

Introduction of Mechatronics to Undergraduate Students Based on Robotic Platforms for Education Purposes ...... 1078 Jorge Solis, Ryu Nakadate, Tetsuro Yamamoto, Atsuo Takanishi

Health Exercise Demonstration Robot TAIZO and Effects of Using Voice Command in Robot-Human Collaborative Demonstration...... 1084 Yosuke Matsusaka, Hiroyuki Fujii, Token Okano, Isao Hara

Adaptive CPG Based Coordinated Control of Healthy and Robotic Lower Limb Movements...... 1090 Jae-Kwan Ryu, Nak Young Chong, Bum Jae You, Henrik Iskov Christensen

Evaluation of Single Switch Interface with Robot Arm to Help Disabled People Daily Life...... 1096 Yujin Wakita, Natsuki Yamanobe, Kazuyuki Nagata, Mathias Clerc

Stiffness Control of Leg Mechanism Imitating the Motion Control of Human Musculoskeletal System...... 1097 Nobuya Fukuda, Toru Oshima

Cooking Procedure Recoginition and Inference in Sensor Embedded Kitchen ...... 1103 Yasushi Nakauchi, Takuo Suzuki, Akira Tokumasu, Murakami Sho

An Experimental Comparison of Preprocessing Methods for Age Classification...... 1111 Youngwoo Yoon, Hosub Yoon, Jaeyeon Lee

Pen Type Surface Acoustic Wave Tactile Display with Movable Tablet...... 1115 Masaya Takasaki, Ryo Tamon, Hiroyuki Kotani, Takeshi Mizuno

Haptic Guidance of Light-Exoskeleton for Arm-Rehabilitation Tasks...... 1121 Luis Ivan Lugo Villeda, Antonio Frisoli, Oscar Osvaldo Sandoval Gonzalez, Miguel Angel Padilla, Vicente Parra Vega, Carlo Alberto Avizzano, Emanuele Ruffaldi, Massimo Bergamasco

Interacting with Bipedal Robots Using the Orient On-Body Fully Wireless Motion Capture System...... 1127 D. K. Arvind, Michal Bartosik

Walking Pattern Generation Method with Feedforward and Feedback Control for Humanoid Robots...... 1128 Seokmin Hong, Yonghwan Oh, Doik Kim, Syungkwon Ra, Bum Jae You

Design of Idle Motions for Service Robot Via Video Ethnography ...... 1134 Hyunsoo Song, Min Joong Kim, Sang-Hoon Jeong, Hyeon-Jeong Suk, Dong-Soo Kwon

Homotopy-Based Controller for Physical Human-Robot Interaction...... 1139 Paul Evrard, Abderrahmane Kheddar

Midas Touch - Chunking Information on a Robotic User Interface Using Spatial and Functional Metaphor...... 1145 Seung-Chan Kim, Seongyong Koo, Dong-Soo Kwon

Development of Coimagination Method towards Cognitive Enhancement Via Image Based Interactive Communication...... 1151 Mihoko Otake, Motoichiro Kato, Toshihisa Takagi, Hajime Asama

Human-Like Catching Motion of Humanoid Using Evolutionary Algorithm(EA)-Based Imitation Learning ...... 1157 Ga-Ram Park, Kanggeon Kim, Changhwan Kim, Mun-Ho Jeong, Bum Jae You, Syungkwon Ra

Development of Soft Sensor Exterior Embedded with Multi-Axis Deformable Tactile Sensor System ...... 1164 Asuka Kadowaki, Tomoaki Yoshikai, Marika Hayashi, Masayuki Inaba

Real-Time Navigation for a Personal Mobility in an Environment with Pedestrians...... 1170 Naotaka Hatao, Ryo Hanai, Kimitoshi Yamazaki, Masayuki Inaba

Environment Situation Reasoning Integrating Human Recognition and Life Sound Recognition Using DBN ...... 1178 Satoru Tokutsu, Kei Okada, Masayuki Inaba

Conversation System Based on Boltzmann Selection and Bayesian Networks for A Partner Robot ...... 1185 Naoyuki Kubota, Takeru Mori

Characteristics of Young Children's Utilization of a Robot During Free Play Time at a Kindergarten: A Case Study ...... 1191 Eunja Hyun, Hyunmin Yoon

An Intelligent Monitoring System based on Emotional Model in Sensor Networks ...... 1197 Naoyuki Kubota, Takenori Obo, Toshio Fukuda

A Joystick Type Car Drive Interface for Wheelchair Users ...... 1203 Masayoshi Wada

Establishing Affective Human Robot Interaction through Contextual Information ...... 1209 Salman Valibeik, James Ballantyne, Benny Ping Lai Lo, Ara Darzi, Guang-Zhong Yang

Author Index