Download embedded personality in robots

A. Rodić, M. Vujović, M. Jovanović, I. Stevanović
INTRODUCTION
A human-centric, social, care-robot for attendance of the elderly and people with reduced
ability
New design of personal robot assistants operating in the it area as part of a structured
wireless robotic sensor networks in indoor environments
Artificial intelligence algorithms further enhanced by emotional intelligence
Robot working in the context of smart home environment
STATE OF THE ART
Prototypes to provide automated assistance to the elderly at home, targeting a market
that promises to grow as people live longer
The examples which are in commercial use are rare because there are still significant
technological constraints
Care-O bot 4 (http://www.care-o-bot-4.de/)
Caring and socially interacting
robots has a more adaptable
personality than any of its
predecessors from this family of
robots
STATE OF THE ART
Pepper (https://www.aldebaran.com/en/a-robots/who-is-pepper)
Cloud-based AI system so that units learn from one another
Reportedly learns from human interactions, with each
experience helping to teach a cloud-based ai shared by all
units.
It has fully articulated arms and hands but moves about on
wheels hidden under a curved plastic skirt.
Paro (http://www.parorobots.com/)
Animal therapy to be administered to patients in
environments such as hospitals and extended care
facilities where live animals present treatment or
logistical difficulties
STATE OF THE ART
Kompaï (http://www.robosoft.com/roboticsolutions/healthcare/kompai/kompai-rd.html)
Family members would call the robot via Skype. The robot
would then use ultrasonic sensors to detect the location of the
person being called and navigate to that person, who answers
the Skype videoconference call via Kompaï's multitouch tablet
PC and Webcam.
Interactive speech recognition would be available to help
elderly or otherwise dependent people access the Internet
using a simple graphic and tactile interface.
PR-2 (http://www.clearpathrobotics.com/pr2/)
PR2 is a robotics platform being developed
at Stanford University. PR stands for
"personal robot".
REQUIREMENTS
MECHANICAL DESIGN
Concept design
New mechanical structure of a robot that meets
ergonomic standards adapted to the patient.
Good ergonomic characteristics of robots allow
better support for patients while walking and
relatively easy to use services.
Built-in security features such as emergency for
medical services, emergency call to family
members, etc
Artificial intelligence algorithms further enhanced
by emotional intelligence that enables better
adaptability to different personality profiles of
patients, the type of personality and temperament
MECHANICAL DESIGN
Basic parts
1. Robotic head that rotates 360 degrees
2. Touchscreen
3. Robot arm with 5 DOF
4. Handles for patient to lean on
5. Robotic hand – gripper
6. Net for objects that robot brings to the patient
7. Circle element with cameras mounted on it
8. Wheels
9. Movable tray
MECHANICAL DESIGN
Basic parts
Side View
Top View
MECHANICAL DESIGN
The Robot Head
The robot head contains:
(i)
kinematic mechanism with 1 DOF,
(ii) touch screen for command input and
information,
(iii) three wide-band professional-grade
microphones with increased sensitivity,
(iv) optional visual depth sensor placed on
the crown of the head.
The robot is equipped with the appropriate led
illumination around touch screen insuring its
functioning in the conditions of reduced
ambient light
AMBIENT ASSISTED LIVING
Smart Home
Support daily life activities of elderly people by creating a living environment
supported by different technologies including different sensor modalities and
service robots.
Implementing the sensing and communication systems that can detect user
activity
Changes and actions in an environment that contribute to space becoming
adaptable in accordance with its function that must be satisfied
Adaptive systems, where the context is customizable, and adjustment is done by
integrating circuitry in an intelligent system that is called informatically structured
space
Intelligent environment serves to enable easier and more fully performing specific
functions for service robots when it comes to helping patients
AMBIENT ASSISTED LIVING
Smart home
Example of ambient assisted living unit containing basic functional units of a
simple household
EMBEDDED PERSONALITY IN ROBOTS
Embedded personality
The objective of this research is to enable enhanced affective and social
capabilities of service robot used for elderly care
Cloud-robotics structure that connects robots to a cloud computing and allow
robots to off-load more computationally intensive tasks and even originate
more flexible and cooperative machine learning mechanism
Robot can be accessed from anywhere and at any time through the web
interfaces
Building of affective and social capabilities with care-robots requires
development of emotional intelligence controller (EI-controller).
Robots achieve better social inclusion into the living environments and better
adaptability to other persons.
EMBEDDED PERSONALITY IN ROBOTS
Embedded personality
EMBEDDED PERSONALITY IN ROBOTS
Embedded personality
Man's psychological (affective and social) behavior depends on several dominant
factors which are acquired by birth or are formed in the course of life or are a result of
the current internal state of the personality (physical and / or mental).
The factors determining a man's behavior are: personality type, type of
temperament, internal stimuli and social factors
Robot uses sensors attached on its body, cameras and appropriate sensors placed in
the working space and noninvasive sensors placed on the patient's body attached by
adequate belts and connected wirelessly.
Human-like affective or social reactions are based on three dominant excitation
signals (information carriers):
(i) “trigger” of behavior (that arouses different psychological reactions),
(ii) “profiler” (that shapes event-driven emotional state (es) to fit the
personality profile of the individual),
(iii) behavior “booster” or behavior “inhibitor” (that increases or decreases
the expressiveness of the individual affective manifestations).
EMBEDDED PERSONALITY IN ROBOTS
Embedded personality
EMBEDDED PERSONALITY IN ROBOTS
Embedded personality
EMBEDDED PERSONALITY IN ROBOTS
Factors that influence human behavior
The Myers-Briggs type indicator sorts some of psychological
differences into four opposite pairs, called dichotomies and
accordingly there are:
Extraverted (E) or Introverted (I), Sensing (S) or iNtuitive
(N), Thinking (T) or Feeling (F) and Judging (J) or
Perceiving (P) types of personality traits. By their
combination it is possible to recognized 16 different
psychological types characterized by different personality
types such as INTJ, ESFP, ESTJ, etc.
4 Types of Temperament:
Sanguine, Choleric, Melancholic, Phlegmatic
EMBEDDED PERSONALITY IN ROBOTS
Personality traits - features
Extraversion (E)
vs.
·
Talkative and sociable
·
Expressive
·
Would rather speak than listen
·
Comfortable around people
·
Dislike being alone
·
Get energized by communicating
with other people
·
Think while speaking
Introversion (I)
·
Private
·
Reserved
·
Would rather listen than speak
·
Tire quickly in social settings
·
Comfortable being alone
·
Get energized by being alone
·
Think before speaking
EMBEDDED PERSONALITY IN ROBOTS
Personality traits - features
Sensing
vs.
·
Spend most of the time focusing
on what can be touched, seen or
experienced
·
More interested in practical
matters than ideas
·
Down-to-earth
·
More observant than imaginative
·
Focus on the past or the present
·
Notice the details, but might miss
the bigger picture
·
Trust experience
iNtuitive
·
Spend most of the time focusing
on what can be imagined
·
More interested in ideas than
practical matters
·
Head in the clouds
·
More imaginative than observant
·
Focus on the future
·
See the bigger picture, but might
miss details
·
Trust instinct
EMBEDDED PERSONALITY IN ROBOTS
Personality traits - features
Feeling
vs.
Thinking
·
Listen to the heart
·
Listen to the head
·
Kind
·
Tough
·
Closer to “bleeding heart” than
“ice in the veins”
·
Closer to “ice in the veins” than
“bleeding heart”
·
Sensitive to criticism
·
Insensitive to criticism
·
Emotional reaction to conflicts
·
Rational reaction to conflicts
·
Want to be seen as warm,
sensitive and sincere
·
Want to be seen as rational, calm
and just
·
Compassion above truth
·
Truth above compassion
EMBEDDED PERSONALITY IN ROBOTS
Personality traits - features
Perceiving (P)
vs.
Judging (J)
·
Focus on options
·
Focus on schedules
·
Do not mind unpredictability
·
Cannot stand unpredictability
·
Playful about work
·
Very serious about work
·
Dislike long-term plans
·
Make long-term plans
·
Not that worried about order
·
Orderly
·
Indecisive
·
Inflexible
·
Dislike rules
·
Like rules
EMBEDDED PERSONALITY IN ROBOTS
Types of temperament - features
Sanguine
• Fast and short emotional reactions
• Variable mood
• Cheerful and optimistic person
Choleric
• Powerful emotions
• Impulsive and irascible person
• Affective
Phlegmatic
• Weal emotions and rare reactions
Choleric,
• Quite and poised
• Without abrupt change in emotional
experience and reactions
Melancholic
• Rare but intensive and long-lasting reactions
• Long lasting mood under the influence of
emotions
• Pron to the negative emotions, sadness and
worry
Melancholic, Sanguine and Phlegmatic
EMBEDDED PERSONALITY IN ROBOTS
Semantic diagram – trigger event>mood>reaction
Example of functional interconnections between the trigger events,
produced emotions and corresponding affective reactions.
EMBEDDED PERSONALITY IN ROBOTS
Embedded personality
Structure of the three-stage EDB-model with fuzzy blocks: emotionally state generator,
emotionally state modulator and behavior interpreter. (Emotion Driven Behavior)
TRIGGER EVENT: Person tried to take
cup of water from the table but did it
awkwardly. The cup was broken and
the water was spilled ...
Trigger event
Broken cup
Sanguine
Choleric
Melancholic
Phlegmatic
Affective reaction
+
++
+
-
Surprised
+
+
0
-
Afraid
+
++
0
-
Frustrated
Fuzzy rules:
1. If <cup broken> .AND. <PP is Phlegmatic> THAN <AR is LOW frustrated>
2. If <cup broken> .AND. <PP is Choleric> THAN <AR is VERY frustrated>
3. Etc ...
Low – Moderate – Very expressed
EMBEDDED PERSONALITY IN ROBOTS – EXAMPLE
EMBEDDED PERSONALITY IN ROBOTS
Example of emotions on robotic head
Example of feeling charts used in the graphical interface. Mood rating
scale with respect to the sadness and happiness.
EMBEDDED PERSONALITY IN ROBOTS
Example of emotions on robotic head
Robot head should be able to simulate the basic emotional states
(happiness, sadness, fear, surprise…)
EMBEDDED PERSONALITY IN ROBOTS
1.
2.
3.
Robotic head face
Upper part of the head with ears
Lower movable yaw
4.
5.
6.
Eye mechanism
Eyelids mechanism
Eyebrows mechanism
7.
8.
Lips mechanism
Lower yaw mechanism
1
2
6
5
4
7
8
3
EMBEDDED PERSONALITY IN ROBOTS
Goal is to develop emotionally intelligent, social,
service robot for care of the elderly.
The main contributions that represent innovation
in this paper are:
i)
the original solution of the mechanical design
of a robot that allows better mobility of
patients and meets ergonomic design
standards,
ii)
application-oriented cloud robotic system
architecture,
iii) the development of EI-controller of a robot
that gives it personality traits and a better
understanding of emotional and social
behavior of the patient. In that way robot
gains comparative advantages for better
understanding, patient adaptability and better
social acceptability of new technologies.
EMBEDDED PERSONALITY IN ROBOTS
THANK YOU