Research on instruction of robots by head movement using “KANSEI” transfer function

In this research, an interface to instruct robots by the movement of the human head is presented. In the proposed interface, a robot moves in cooperation with the movement of the human head. The intersection point between the extension line of the head direction and a plane on which robots work is regarded as the instruction point and an interface system in which the robot follows the movement of the instruction point is constructed. In addition, the ldquoKanseirdquo transfer function is introduced with its input being the instruction point and output being the reference point of the robot motion so that the cooperative movement of the robot can be smooth and acceptable to human psychology. The parameters of the ldquoKanseirdquo transfer function are determined by the relative position of the robot to the human, and the distribution of the desirable parameters is expressed using B-spline surface. The effectiveness of the proposed interface is confirmed through the experiments.