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HAI シンポジウム 2014 Human-Agent Interaction Symposium 2014 G-19 Direction indicating method with pulling user s cloth by four pneumatic actuator for wearable message robot 1 2 Hirotake Yamazoe 1 Tomoko Yonezawa 2 1 1 Osaka University 2 2 Kansai University Abstract: In this paper, we propose a direction indicating method by pulling user s cloth by using four pneumatic actuators for wearable robot which makes physical contacts while it tells messages to the user. This robot is expected to help elderly people who need outings but have anxiety. The system makes haptic stimili corresponding to the user s clothing and posture. We designed a direction indication method suitable for the wearable robot that aims to feel the direction to the user by pulling user s clothes. 1 [1] 560-0043 1-31 E-mail: yamazoe@osipp.osaka-u.ac.jp [2, 4] [5, 6] [7] 2 [8] [9] 243

[10] [11] [12] [13, 14] [15] [16] [17] [18] [19] [5, 6] 1: 3 [5, 6] 2 2 1: [5] 2: [6] 3.1 ( 2:, notification) (, affection) 244

3D Accelerometer and Compass Cloth Thickness Sensor Wireless Module Transmission from/to outside Board PC 3: Servo Motor (Robot) Pressure Actuator Vibration Motor Peltier device Speaker Direction Indicator 1,2 [7] 3.2 3 3 ( 2 1 ) 3 3 PC(Raspberry Pi) PC LAN ( 21cm ( ) - 3 3.3 (SQUSE PM- 10RF) 5 6 ( ) ( 6 ) 245

Pneumatic Actuators Arm 4: ( ) Compressor 6: Control signal From PC Pressure Control Unit 5: ( 6, ) 4 7: 24300047 25730114 25700021 [1] K. Suzuki, G. Mito, H. Kawamoto, Y. Hasegawa, and Y. Sankai: Intention-Based Walking Support for Paraplegia Patients with Robot Suit HAL, Advanced Robotics, Vol.21, No.12, pp.1441 1469, 2007. [2] H. Kaminoyama, T. Matsuo, F. Hattori, K. Susami, N. Kuwahara, and S. Abe, Walk navigation system using photographs for people with dementia, Proc. of Human interface 2007: Part II, pp.1039 1049, 2007. [3] A. Tsuji, T. Yonezawa, H. Yamazoe, S. Abe, N. Kuwahara, and K. Morimoto, Proposal and Evaluation of the Toilet Timing Suggestion Method for the Elderly, ICCI*CC 12, pp.178 185, 2012. [4] A. Tsuji, T. Yonezawa, H. Yamazoe, S. Abe, N. Kuwahara, and K. Morimoto, Proposal and 246

Evaluation of Toilet Timing Suggestion Methods for the Elderly, International Journal of Advanced Computer Science and Applications, Vol. 5, No. 10, 2014, to appear. [5] T. Yonezawa and H. Yamazoe, Wearable partner agent with anthropomorphic physical contact with awareness of clothing and posture. ISWC13, pp.77-80, 2013. [6] H. Yamazoe and T. Yonezawa, Simplification of Wearable Message Robot with Physical Contact for Elderly s Outing Support. HAI2014, to appear. [7],,, 2014, pp. 615 618, 2014. [16] D. Sekiguchi, M. Inami, S. Tachi, Robotphone: Rui for interpersonal communication, Proc. CHI01 Extended Abstracts, pp.277 278, 2001. [17],,,,,,, TENORI,, 1B2-3, 2009. [18] T. Kashiwabara, H. Osawa, K. Shinozawa, M. Imai, TEROOS: a wearable avatar to enhance joint activities, Proc. CHI12, pp.2001 2004, 2012. [19] T. Minato, H. Sumioka, S Nishio, and H. Ishiguro, Studying the Influence of Handheld Robotic Media on Social Communications, Social Robotic Telepresence in ROMAN 12 Workshop, pp. 15 16, 2012. [8] M. Fukumoto and T. Sugimura, Active click: tactile feedback for touch panels, CHI 01 extended abstracts, pp.121 122, 2001. [9] A. Cassinelli, C. Reynolds, and M. Ishikawa. Augmenting spatial awareness with haptic radar, ISWC 06, pp.61 64, 2006. [10] H. Yano, M. Yoshie, H. Iwata, Development of a non-grounded haptic interface using the gyro effect, HAPTICS2003, pp. 32 39, 2003. [11] T. Amemiya and H. Sugiyama, Haptic handheld wayfinder with pseudo-attraction force for pedestrians with visual impairments, Proc. of AS- SETS09, pp.107 114, 2009. [12] H. Kozima, Infanoid: A babybot that explores the social environment, In Socially Intelligent Agents, pp.157 164, 2002. [13] L. Bonanni, C. Vaucelle, J. Lieberman, and O. Zuckerman, Taptap: a haptic wearable for asynchronous distributed touch therapy, CHI 06 extended abstracts, pp. 580 585, 2006. [14] R. Wang, F. Quek, D. Tatar, J.K.S. Teh, A.D. Cheok, Keep in Touch: Channel, Expectation and Experience, CHI 12, pp.139 148, 2012. [15] B. R. Duffy. Anthropomorphism and the social robot. Robotics and Autonomous Systems, 42(3):177 190, 2003. 247

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