Human-Friendly Robotics 2019: 12th International Workshop (Springer Proceedings in Advanced Robotics, 12)

Foreword
Contents
Guiding Quadrotor Landing with Pointing Gestures
	1 Introduction
	2 Related Work
		2.1 Providing Navigational Goals
		2.2 Wearable Sensors
		2.3 Pointing Direction Estimation
	3 Model
	4 Implementation
	5 Experimental Setup
		5.1 Subjects
		5.2 Experimental Sequence
		5.3 Performance Metrics.
	6 Results
	7 Conclusions
	References
Human-Friendly Multi-Robot Systems: Legibility Analysis
	1 Introduction
	2 Problem Definition
	3 Methods
		3.1 Response Surface Design
		3.2 Robot Model and Independent Variables
		3.3 Experimental Scenario
		3.4 Dependent Variables
		3.5 Users
	4 Results
	5 Conclusion
	References
Closing the Feedback Loop: The Relationship Between Input and Output Modalities in Human-Robot Interactions
	1 Introduction
	2 Goals and Hypotheses
	3 Method
		3.1 Overview
		3.2 Participants
		3.3 Robot
		3.4 Experimental Design
		3.5 Procedure
		3.6 Measures
		3.7 Analysis
	4 Results
		4.1 Subjective Experience Analysis
		4.2 Efficiency Analysis
	5 Discussion
	References
Incremental Motion Reshaping of Autonomous Dynamical Systems
	1 Introduction
	2 Orthogonal Reshaping of Dynamical Systems
		2.1 Theoretical Background
		2.2 Reshaping Control Input
		2.3 Control Input Parametrization
	3 Learning Reshaping Terms
		3.1 Compute Training Data
		3.2 Gaussian Process Regression
	4 Results
		4.1 Simulation - Learning Bi-Modal Behaviors
		4.2 Experiments
		4.3 Discussion
	5 Conclusions and Future Work
	References
Progressive Automation of Periodic Movements
	1 Introduction
	2 Progressive Automation of Periodic Movements
		2.1 System Structure
		2.2 Role Allocation Strategy
		2.3 Adaptive Frequency Oscillators
		2.4 Periodic DMP
		2.5 The Proposed Controller for Progressive Automation
	3 Experimental Evaluation
		3.1 Free-Space Movements
		3.2 Force Controlled Wiping Task
	4 Conclusions
	References
Fault-Tolerant Physical Human-Robot Interaction via Stiffness Adaptationpg of Elastic Actuators
	1 Introduction
	2 Actuator and Fault Behavior
		2.1 Actuator Model
		2.2 Stiffness Faults
	3 Fault Evaluation and Compensation
		3.1 Stiffness Estimation
		3.2 Fault Evaluation
		3.3 Fault Compensation
	4 Experimental Results
		4.1 Stiffness Estimation
		4.2 Fault-Tolerant Interaction
	5 Conclusions
	A  Filter Covariance Matrices
	References
Designing an Expressive Head for a Help Requesting Socially Assistive Robot
	1 Introduction
		1.1 Application Scenario
		1.2 Robot
	2 Related Work and Design Decisions
	3 Implementation of the Robot Head
		3.1 Prerequisites and Requirements
		3.2 Hardware
		3.3 Eye Animations and Control
		3.4 LEDs and Control
	4 Application
		4.1 Attention Generation and Status Output
		4.2 Gaze Following
		4.3 Simulation of Mouth Movement
	5 Study on the Effect of Design Variantspg on the Perception of Help Requests
		5.1 Materials
		5.2 Measurement
		5.3 Results
		5.4 Discussion of Results
	6 Conclusion
	References
STEAM and Educational Robotics
	1 New Paradigms in Educational Robotics
		1.1 From STEM to STEAM
		1.2 Educational Robotics in STEAM Educational Contexts
		1.3 Educational Robotics, Aesthetic Elements and Play
		1.4 Educational Technologies in Constructivist Learning Environments
		1.5 Conclusions
	References
Grasp-Oriented Myoelectric Interfaces for Robotic Hands: A Minimal-Training Synergy-Based Framework for Intent Detection, Control and Perception
	1 Introduction and Research Context
	2 Synergy-Based Framework for Myoelectric HRI
		2.1 General Structure Overview
		2.2 Factorization-Based Myocontrol
		2.3 Human-Like Robotic Hand Controller
		2.4 Sensory Substitution for Contact Detection
	3 Experimental Tests
		3.1 Experimental Setup and Protocol
		3.2 Grasp Strength Regulation Results
	4 Conclusions
	References
Hierarchical Task-Priority Control for Human-Robot Co-manipulation
	1 Introduction
	2 Related Works
	3 Dynamic Task Priority Framework
		3.1 Dynamic Modification of the Task Composition
	4 Definition of Possible Tasks for a Cobot System
		4.1 End-Effector Position Task
		4.2 End-Effector Orientation Task
		4.3 Interaction Force Task
		4.4 Joint Limits Avoidance Task
		4.5 Manipulability Task
	5 Dynamic Task Composition
	6 Case Study
	7 Conclusion and Future Work
	References
How to 3D-Print Compliant Joints with a Selected Stiffness for Cooperative Underactuated Soft Grippers
	1 Introduction
	2 Characterization of the Stiffness
		2.1 Material and Printer Settings
		2.2 Test Bench Setup
	3 Results
		3.1 Test Bench Results
		3.2 Case Study
	4 Conclusion
	References
Linking Human Factors to Assess Human Reliability
	1 Introduction
		1.1 A Literature Review Analysis
	2 The Methodological Approach
		2.1 Design
		2.2 Weigh
		2.3 Evaluate
		2.4 Trust
	3 Managing the Behavior of Human at Work: A Safe Based Reliability Approach
		3.1 Inherit the Design Context
	4 Conclusions
	Appendix
	References
Computer-Aided Assessment of Safety Countermeasures for Industrial Human-Robot Collaborative Applications
	1 Safety Assessment for Human-Robot Collaboration in Industrial Applications
	2 Consistency of Safety Models Within ABB RobotStudio
	3 Computer-Aided Assessment of Collaborative Safety Countermeasures
	4 Results
	5 Conclusive Remarks and Future Developments
	References
Author Index