Development of a Hand-raising Robot by Representing Embodied Motions of Active Hand-rising

IPSJ

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  • 積極的な挙手動作を代行する挙手ロボットの開発

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挙手は，根源的な身体動作の1つであるが，これを促す具体的な手段についてはほとんど議論されていない．本研究では，人の積極的な挙手動作の特徴を導入した腕型デバイス，挙手ロボットの開発を行った．まず，人の挙手動作を測定し，分類することで5通りの典型的な挙手動作を抽出して，ロボットへの導入を可能とした．次に，分類した挙手動作をロボットに導入し評価実験を行い，ロボットの関節自由度にかかわらず，手を高く・速く挙げる動作が，好印象を与えることを明らかにした．そして，挙手ロボットの使用感と使用効果に関する評価を行い，気軽で挙手しやすい雰囲気を感じさせることなどを明らかにした．

Hand-raising is one of fundamental embodied motions. However, the concrete way to enhance such motions is discussed hardly. In this study, we developed an arm-shaped device hand-raising robot, in which the specification of active human hand raising is introduced. First, we measured motions in hand raising, and classified them to typical five patterns, which can be installed in the motions of the hand-raising robot. Then, we implemented them in the hand-raising robot and performed an evaluation experiment. It made clear that high and fast hand raising gives good impression irrespective to degrees of freedom of the hand-raising robot. We also performed evaluation experiment about usability and effect, and made clear that the hand-raising robot can provide atmosphere in which participants can feel free to raise their hands.

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