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Robotics 2017, 6(3), 16; doi:10.3390/robotics6030016

Perception-Link Behavior Model: Supporting a Novel Operator Interface for a Customizable Anthropomorphic Telepresence Robot

1
BeingTogether Centre, Institute for Media Innovation, Singapore 637553, Singapore
2
Robotic Research Centre, Nanyang Technological University, Singapore 639798, Singapore
*
Author to whom correspondence should be addressed.
Received: 15 May 2017 / Revised: 14 July 2017 / Accepted: 15 July 2017 / Published: 20 July 2017
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Abstract

A customizable anthropomorphic telepresence robot (CATR) is an emerging medium that might have the highest degree of social presence among the existing mediated communication mediums. Unfortunately, there are problems with teleoperating a CATR, and these problems can deteriorate the gesture motion in a CATR. These problems are the disruption during decoupling, discontinuity due to the unstable transmission and jerkiness due to the reactive collision avoidance. From the review, none of the existing interfaces can simultaneously fix all of the problems. Hence, a novel framework with the perception-link behavior model (PLBM) was proposed. The PLBM adopts the distributed spatiotemporal representation for all of its input signals. Equipping it with other components, the PLBM can solve the above problems with some limitations. For instance, the PLBM can retrieve missing modalities from its experience during decoupling. Next, the PLBM can handle up to a high level of drop rate in the network connection because it is dealing with gesture style and not pose. For collision prevention, the PLBM can tune the incoming gesture style so that the CATR can deliberately and smoothly avoid a collision. In summary, the framework consists of PLBM being able to increase the user’s presence on a CATR by synthesizing expressive user gestures. View Full-Text
Keywords: gesture synthesis; unsupervised modeling; online association; vector space model; distributed representation; spatiotemporal features gesture synthesis; unsupervised modeling; online association; vector space model; distributed representation; spatiotemporal features
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Gu, W.; Seet, G.; Magnenat-Thalmanna, N. Perception-Link Behavior Model: Supporting a Novel Operator Interface for a Customizable Anthropomorphic Telepresence Robot. Robotics 2017, 6, 16.

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