Vol. 48 No. 12 Dec. 2007 WSCS Generation of Spatial Distance ( Maai ) by Emergence of Co-existing Feeling and Expression of Rhythm Shiroh Itai and Yoshiyuki Miwa We have investigated the generation of a spatial distance ( Maai ) by relating it to the entrainment emergence process taking place during the Kendo match on a video image, and found that the entrainment is generated in multiple cycles if Maai is established. Based on this finding, we investigate, in this research, essential requirements for the successful generation of Maai. In particular, we carried out experiments on Maai establishment, focusing attention on the co-existing feeling and the transmission of the rhythm of the action. These two essentials (co-existing feeling and rhythm transmission) are quite different between the face-to-face Kendo match and the remote Kendo match. Therefore, we focused the attention on the effect of the body shadow by which the existence of a person can be evoked, the remote Kendo match where the shadow of the remote opponent is projected in the self space was conducted. And, in the remote Kendo match, only the expression of the existing feeling of the remote opponent is inadequate to establish Maai. Both the expression of the existing feeling and the transmission of the rhythm of the action enable players to generate Maai with the generation of the entrainment in multiple cycles. Consequently, it is indicated that the generation of Maai requires both the co-existing feeling and the rhythm of the action. 1. Faculty of Science and Engineering, Waseda University. 1) 2) 1 2 2 3907
3908 Dec. 2007 IT 3) 2 4) 5),6) Condon 7) Walk-Mate 8) 9) Hall 10) Kendon 11) Sellen 12) 13) 1 14) 1 Fig. 1 Concept of Kendo robot system. 2. 13) 2 2 2 13),14) 15)
Vol. 48 No. 12 3909 Fig. 3 3 System configuration of Kendo match system. 2 Fig. 2 Rhythm control method. 2 2 2 5.0 [Hz] 13) 3.0 7.0 [Hz] 0.5 [s] 0.8 PC TCP/IP 13) 20 [ms] 3 4 (b) 3. 2
3910 Dec. 2007 4(a) 16) 2 14) 4(a) 13) 4(b) 16) 16) 4. 4 Fig. 4 Distribution of cycle of operational thythm in the generation of entrainment. 5 (a) 5(b) Fig. 5 5 Appearance of Kendo match.
Vol. 48 No. 12 3911 7 Fig. 7 Experiment to examine the difference of operability of controller. 6 Fig. 6 Change of rhythm controller. 5 4.1 6 (a) 6(b) 8 Fig. 8 Robot position coordinate. 6 20 7 2.5 8
3912 Dec. 2007 10 Fig. 10 Frequency analyses. 9 Fig. 9 Distribution of reaction time. 9 F t p >0.05 8 9 I 5 I p >0.05 10 4.2 17) 20) 21) WSCS 21),22) 2
Vol. 48 No. 12 3913 11 WSCS Fig. 11 System configuration of Kendo match system using WSCS. 11 5. 5.1 9 1,000 I 7 I 0.43 0.13 ± 0.30 0.56 [s] ± 0.20 0.70[s] 20 6 6 3 3 3 3 1 100 3 2 1 100 4 0.17 [s] 6.0 [Hz] 0.19 [s] 5.3 [Hz] M I 100 5.2
3914 Dec. 2007 12 Fig. 12 Result of Kendo match at the same place in blocking out the sound of the rhythmic contoroller operation. 13 Fig. 13 Appearance of remote Kendo matchusing shadow. 0.18 [s] 5.6 [Hz] 0.20 [s] 5.0 [Hz] 12 4(a) F p <0.01 2 p <0.01 2 5.3 WSCS 13 14 Fig. 14 Result of remote Kendo match only using the shadow. WSCS 21) 0.18 [s] 5.6 [Hz] 14 4(a) F p <0.01 2 p <0.01 2
Vol. 48 No. 12 3915 15 Fig. 15 Remote Kendo match using both the shadow and the timing display device. 5.4 0.18 [s] 5.6 [Hz] 0.14 0.24 [s] 4.2 7.1 [Hz] 15 4(a) F t p >0.05 2 F p >0.05 t 1 p <0.01 3 15 12 15 14 F p <0.01 2 p <0.01 3 2 M I 4 M I 6. 23)
3916 Dec. 2007 24) 25) 3 16) 7. (1) (2) (3) WSCS (4) WSCS (5)
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3918 Dec. 2007 15 18 18 19 51 61 19 IEEE ACM