RO-MAN 2009: The 18th IEEE International Symposium on Robot 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 Android 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 Robots 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 Robotics..................................................... 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 Humanoid Robot: 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