Evaluation by Expert Dancers of a Robot That Performs Partnered Stepping via Haptic Interaction.
Identifieur interne : 000359 ( PubMed/Checkpoint ); précédent : 000358; suivant : 000360Evaluation by Expert Dancers of a Robot That Performs Partnered Stepping via Haptic Interaction.
Auteurs : Tiffany L. Chen [États-Unis] ; Tapomayukh Bhattacharjee [États-Unis] ; J Lucas Mckay [États-Unis] ; Jacquelyn E. Borinski [États-Unis] ; Madeleine E. Hackney [États-Unis] ; Lena H. Ting [États-Unis] ; Charles C. Kemp [États-Unis]Source :
- PloS one [ 1932-6203 ] ; 2015.
English descriptors
- KwdEn :
- MESH :
- methods : Robotics.
- physiology : Dancing, Psychomotor Performance, Touch.
- Adult, Biomechanical Phenomena, Humans, Surveys and Questionnaires.
Abstract
Our long-term goal is to enable a robot to engage in partner dance for use in rehabilitation therapy, assessment, diagnosis, and scientific investigations of two-person whole-body motor coordination. Partner dance has been shown to improve balance and gait in people with Parkinson's disease and in older adults, which motivates our work. During partner dance, dance couples rely heavily on haptic interaction to convey motor intent such as speed and direction. In this paper, we investigate the potential for a wheeled mobile robot with a human-like upper-body to perform partnered stepping with people based on the forces applied to its end effectors. Blindfolded expert dancers (N=10) performed a forward/backward walking step to a recorded drum beat while holding the robot's end effectors. We varied the admittance gain of the robot's mobile base controller and the stiffness of the robot's arms. The robot followed the participants with low lag (M=224, SD=194 ms) across all trials. High admittance gain and high arm stiffness conditions resulted in significantly improved performance with respect to subjective and objective measures. Biomechanical measures such as the human hand to human sternum distance, center-of-mass of leader to center-of-mass of follower (CoM-CoM) distance, and interaction forces correlated with the expert dancers' subjective ratings of their interactions with the robot, which were internally consistent (Cronbach's α=0.92). In response to a final questionnaire, 1/10 expert dancers strongly agreed, 5/10 agreed, and 1/10 disagreed with the statement "The robot was a good follower." 2/10 strongly agreed, 3/10 agreed, and 2/10 disagreed with the statement "The robot was fun to dance with." The remaining participants were neutral with respect to these two questions.
DOI: 10.1371/journal.pone.0125179
PubMed: 25993099
Affiliations:
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Chen</name><affiliation wicri:level="2"><nlm:affiliation>Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA.</nlm:affiliation><country xml:lang="fr">États-Unis</country><wicri:regionArea>Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA</wicri:regionArea><placeName><region type="state">Géorgie (États-Unis)</region></placeName></affiliation></author><author><name sortKey="Bhattacharjee, Tapomayukh" sort="Bhattacharjee, Tapomayukh" uniqKey="Bhattacharjee T" first="Tapomayukh" last="Bhattacharjee">Tapomayukh Bhattacharjee</name><affiliation wicri:level="2"><nlm:affiliation>Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA.</nlm:affiliation><country xml:lang="fr">États-Unis</country><wicri:regionArea>Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA</wicri:regionArea><placeName><region type="state">Géorgie (États-Unis)</region></placeName></affiliation></author><author><name sortKey="Mckay, J Lucas" sort="Mckay, J Lucas" uniqKey="Mckay J" first="J Lucas" last="Mckay">J Lucas Mckay</name><affiliation wicri:level="2"><nlm:affiliation>Department of Biomedical Engineering, Emory University School of Medicine, Atlanta, GA, USA.</nlm:affiliation><country xml:lang="fr">États-Unis</country><wicri:regionArea>Department of Biomedical Engineering, Emory University School of Medicine, Atlanta, GA</wicri:regionArea><placeName><region type="state">Géorgie (États-Unis)</region></placeName></affiliation></author><author><name sortKey="Borinski, Jacquelyn E" sort="Borinski, Jacquelyn E" uniqKey="Borinski J" first="Jacquelyn E" last="Borinski">Jacquelyn E. 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Ting</name><affiliation wicri:level="2"><nlm:affiliation>Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA; Department of Biomedical Engineering, Emory University School of Medicine, Atlanta, GA, USA.</nlm:affiliation><country xml:lang="fr">États-Unis</country><wicri:regionArea>Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA; Department of Biomedical Engineering, Emory University School of Medicine, Atlanta, GA</wicri:regionArea><placeName><region type="state">Géorgie (États-Unis)</region></placeName></affiliation></author><author><name sortKey="Kemp, Charles C" sort="Kemp, Charles C" uniqKey="Kemp C" first="Charles C" last="Kemp">Charles C. Kemp</name><affiliation wicri:level="2"><nlm:affiliation>Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA.</nlm:affiliation><country xml:lang="fr">États-Unis</country><wicri:regionArea>Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA</wicri:regionArea><placeName><region type="state">Géorgie (États-Unis)</region></placeName></affiliation></author></analytic><series><title level="j">PloS one</title><idno type="eISSN">1932-6203</idno><imprint><date when="2015" type="published">2015</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Adult</term><term>Biomechanical Phenomena</term><term>Dancing (physiology)</term><term>Humans</term><term>Psychomotor Performance (physiology)</term><term>Robotics (methods)</term><term>Surveys and Questionnaires</term><term>Touch (physiology)</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Robotics</term></keywords><keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Dancing</term><term>Psychomotor Performance</term><term>Touch</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Adult</term><term>Biomechanical Phenomena</term><term>Humans</term><term>Surveys and Questionnaires</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Our long-term goal is to enable a robot to engage in partner dance for use in rehabilitation therapy, assessment, diagnosis, and scientific investigations of two-person whole-body motor coordination. Partner dance has been shown to improve balance and gait in people with Parkinson's disease and in older adults, which motivates our work. During partner dance, dance couples rely heavily on haptic interaction to convey motor intent such as speed and direction. In this paper, we investigate the potential for a wheeled mobile robot with a human-like upper-body to perform partnered stepping with people based on the forces applied to its end effectors. Blindfolded expert dancers (N=10) performed a forward/backward walking step to a recorded drum beat while holding the robot's end effectors. We varied the admittance gain of the robot's mobile base controller and the stiffness of the robot's arms. The robot followed the participants with low lag (M=224, SD=194 ms) across all trials. High admittance gain and high arm stiffness conditions resulted in significantly improved performance with respect to subjective and objective measures. Biomechanical measures such as the human hand to human sternum distance, center-of-mass of leader to center-of-mass of follower (CoM-CoM) distance, and interaction forces correlated with the expert dancers' subjective ratings of their interactions with the robot, which were internally consistent (Cronbach's α=0.92). In response to a final questionnaire, 1/10 expert dancers strongly agreed, 5/10 agreed, and 1/10 disagreed with the statement "The robot was a good follower." 2/10 strongly agreed, 3/10 agreed, and 2/10 disagreed with the statement "The robot was fun to dance with." The remaining participants were neutral with respect to these two questions.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">25993099</PMID><DateCreated><Year>2015</Year><Month>05</Month><Day>21</Day></DateCreated><DateCompleted><Year>2016</Year><Month>02</Month><Day>11</Day></DateCompleted><DateRevised><Year>2015</Year><Month>05</Month><Day>30</Day></DateRevised><Article PubModel="Electronic-eCollection"><Journal><ISSN IssnType="Electronic">1932-6203</ISSN><JournalIssue CitedMedium="Internet"><Volume>10</Volume><Issue>5</Issue><PubDate><Year>2015</Year></PubDate></JournalIssue><Title>PloS one</Title><ISOAbbreviation>PLoS ONE</ISOAbbreviation></Journal><ArticleTitle>Evaluation by Expert Dancers of a Robot That Performs Partnered Stepping via Haptic Interaction.</ArticleTitle><Pagination><MedlinePgn>e0125179</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1371/journal.pone.0125179</ELocationID><Abstract><AbstractText>Our long-term goal is to enable a robot to engage in partner dance for use in rehabilitation therapy, assessment, diagnosis, and scientific investigations of two-person whole-body motor coordination. Partner dance has been shown to improve balance and gait in people with Parkinson's disease and in older adults, which motivates our work. During partner dance, dance couples rely heavily on haptic interaction to convey motor intent such as speed and direction. In this paper, we investigate the potential for a wheeled mobile robot with a human-like upper-body to perform partnered stepping with people based on the forces applied to its end effectors. Blindfolded expert dancers (N=10) performed a forward/backward walking step to a recorded drum beat while holding the robot's end effectors. We varied the admittance gain of the robot's mobile base controller and the stiffness of the robot's arms. The robot followed the participants with low lag (M=224, SD=194 ms) across all trials. High admittance gain and high arm stiffness conditions resulted in significantly improved performance with respect to subjective and objective measures. Biomechanical measures such as the human hand to human sternum distance, center-of-mass of leader to center-of-mass of follower (CoM-CoM) distance, and interaction forces correlated with the expert dancers' subjective ratings of their interactions with the robot, which were internally consistent (Cronbach's α=0.92). In response to a final questionnaire, 1/10 expert dancers strongly agreed, 5/10 agreed, and 1/10 disagreed with the statement "The robot was a good follower." 2/10 strongly agreed, 3/10 agreed, and 2/10 disagreed with the statement "The robot was fun to dance with." The remaining participants were neutral with respect to these two questions.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Chen</LastName><ForeName>Tiffany L</ForeName><Initials>TL</Initials><AffiliationInfo><Affiliation>Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Bhattacharjee</LastName><ForeName>Tapomayukh</ForeName><Initials>T</Initials><AffiliationInfo><Affiliation>Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>McKay</LastName><ForeName>J Lucas</ForeName><Initials>JL</Initials><AffiliationInfo><Affiliation>Department of Biomedical Engineering, Emory University School of Medicine, Atlanta, GA, USA.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Borinski</LastName><ForeName>Jacquelyn E</ForeName><Initials>JE</Initials><AffiliationInfo><Affiliation>Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Hackney</LastName><ForeName>Madeleine E</ForeName><Initials>ME</Initials><AffiliationInfo><Affiliation>Department of Medicine, Emory University School of Medicine, Atlanta, GA, USA; Department of Medicine, Atlanta VA Geriatric Research Education and Clinical Center, Atlanta, GA, USA.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Ting</LastName><ForeName>Lena H</ForeName><Initials>LH</Initials><AffiliationInfo><Affiliation>Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA; Department of Biomedical Engineering, Emory University School of Medicine, Atlanta, GA, USA.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Kemp</LastName><ForeName>Charles C</ForeName><Initials>CC</Initials><AffiliationInfo><Affiliation>Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA.</Affiliation></AffiliationInfo></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D023362">Evaluation Studies</PublicationType><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType><PublicationType UI="D013486">Research Support, U.S. Gov't, Non-P.H.S.</PublicationType></PublicationTypeList><ArticleDate DateType="Electronic"><Year>2015</Year><Month>05</Month><Day>20</Day></ArticleDate></Article><MedlineJournalInfo><Country>United States</Country><MedlineTA>PLoS One</MedlineTA><NlmUniqueID>101285081</NlmUniqueID><ISSNLinking>1932-6203</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><CommentsCorrectionsList><CommentsCorrections RefType="Cites"><RefSource>Arch Phys Med Rehabil. 2004 Jul;85(7):1106-11</RefSource><PMID Version="1">15241758</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>J Orthop Res. 2012 Jun;30(6):927-33</RefSource><PMID Version="1">22086708</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>J Pediatr Rehabil Med. 2012;5(2):99-106</RefSource><PMID Version="1">22699100</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Res Q Exerc Sport. 1991 Dec;62(4):399-405</RefSource><PMID Version="1">1780562</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Neurosci Lett. 2005 Nov 25;389(1):6-11</RefSource><PMID Version="1">16095821</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Top Stroke Rehabil. 2007 Nov-Dec;14(6):22-44</RefSource><PMID Version="1">18174114</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Neurorehabil Neural Repair. 2009 Jan;23(1):5-13</RefSource><PMID Version="1">19109447</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>J Rehabil Med. 2009 May;41(6):475-81</RefSource><PMID Version="1">19479161</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Arch Gerontol Geriatr. 2012 Sep-Oct;55(2):492-6</RefSource><PMID Version="1">22483371</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>J Dance Med Sci. 2009;13(4):101-7</RefSource><PMID Version="1">19930811</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>J Dance Med Sci. 2009;13(4):108-14</RefSource><PMID Version="1">19930812</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Phys Ther. 2010 Feb;90(2):269-79</RefSource><PMID Version="1">20022999</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Neurorehabil Neural Repair. 2010 May;24(4):384-92</RefSource><PMID Version="1">20008820</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Neurorehabil Neural Repair. 2010 Jul-Aug;24(6):528-41</RefSource><PMID Version="1">20233965</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>J Am Geriatr Soc. 2003 Mar;51(3):314-22</RefSource><PMID Version="1">12588574</PMID></CommentsCorrections></CommentsCorrectionsList><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D000328">Adult</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D001696">Biomechanical Phenomena</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D003615">Dancing</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000502">physiology</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D011597">Psychomotor Performance</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000502">physiology</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D012371">Robotics</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D011795">Surveys and Questionnaires</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D014110">Touch</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000502">physiology</QualifierName></MeshHeading></MeshHeadingList><OtherID Source="NLM">PMC4438977</OtherID></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="ecollection"><Year>2015</Year><Month></Month><Day></Day></PubMedPubDate><PubMedPubDate PubStatus="received"><Year>2014</Year><Month>6</Month><Day>8</Day></PubMedPubDate><PubMedPubDate PubStatus="accepted"><Year>2015</Year><Month>3</Month><Day>21</Day></PubMedPubDate><PubMedPubDate 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sort="Chen, Tiffany L" uniqKey="Chen T" first="Tiffany L" last="Chen">Tiffany L. Chen</name></region><name sortKey="Bhattacharjee, Tapomayukh" sort="Bhattacharjee, Tapomayukh" uniqKey="Bhattacharjee T" first="Tapomayukh" last="Bhattacharjee">Tapomayukh Bhattacharjee</name><name sortKey="Borinski, Jacquelyn E" sort="Borinski, Jacquelyn E" uniqKey="Borinski J" first="Jacquelyn E" last="Borinski">Jacquelyn E. Borinski</name><name sortKey="Hackney, Madeleine E" sort="Hackney, Madeleine E" uniqKey="Hackney M" first="Madeleine E" last="Hackney">Madeleine E. Hackney</name><name sortKey="Kemp, Charles C" sort="Kemp, Charles C" uniqKey="Kemp C" first="Charles C" last="Kemp">Charles C. Kemp</name><name sortKey="Mckay, J Lucas" sort="Mckay, J Lucas" uniqKey="Mckay J" first="J Lucas" last="Mckay">J Lucas Mckay</name><name sortKey="Ting, Lena H" sort="Ting, Lena H" uniqKey="Ting L" first="Lena H" last="Ting">Lena H. Ting</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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