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Development of an animal-type pupil response robot with empathy expression for preventing dementia

Research Project

Project/Area Number 16K01560
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Rehabilitation science/Welfare engineering
Research InstitutionOkayama Prefectural University

Principal Investigator

Sejima Yoshihiro  岡山県立大学, 情報工学部, 助教 (40584404)

Research Collaborator WATANABE Tomio  岡山県立大学, 情報工学部, 教授 (30167150)
Project Period (FY) 2016-04-01 – 2019-03-31
Project Status Completed (Fiscal Year 2018)
Budget Amount *help
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2018: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2017: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2016: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Keywordsヒューマンインタフェース / 感情表現 / メディア表現 / 場の盛り上がり / 親近感 / ロボットセラピー / 感性ロボティクス / ヒューマンロボットインタラクション / 瞳孔反応 / ヒューマンインタラクション / コミュニケーション / 画像処理 / 感性情報処理 / 共感性 / 情動表現
Outline of Final Research Achievements

In this study, we aimed to establish the expressions of pupil response to empathize with the user in a communication between human and robot. Therefore, we conducted the both approaches of "Analysis" that analyzes the characteristics of pupil response in communication and "Design" that develops and evaluates the advanced pupil response systems and robots. In the approach of "Analysis", using a pupil measurement device, we analyzed the pupil response with or without pleasant emotion during the utterance, and revealed that the pupil significantly dilates with the utterance. In the approach of "Design", we applied the developed pupil response model to the pupil response interface which have been developed so far and investigated the expressions of pupil response for promoting empathy.
As a result, the user had a tendency that the sense of familiarity and empathy was enhanced by the dilation of pupil response.

Academic Significance and Societal Importance of the Research Achievements

本研究では、コミュニケーション時における瞳孔反応を解析し、発話に同調して瞳孔が顕著に拡大することを示した。さらに、瞳孔反応表現により、感情表現や親近感が増大する等、共感生成を支援するコミュニケーション効果を確認した。これらの成果は、これまでの生理学・心理学的側面による知見だけではなく、発話というコミュニケーション独自の観点に基づく知見であり、学術的意義が極めて大きい。さらに、本研究で得られた成果は、医療福祉や教育、エンタテインメント等のコミュニケーションに関係するあらゆる応用分野だけでなく、防犯やバイオメトリクス等のセキュリティ分野へ応用も可能であり、社会的意義が極めて大きい。

Report

(4 results)
  • 2018 Annual Research Report   Final Research Report ( PDF )
  • 2017 Research-status Report
  • 2016 Research-status Report
  • Research Products

    (39 results)

All 2019 2018 2017 2016 Other

All Journal Article (5 results) (of which Int'l Joint Research: 2 results,  Peer Reviewed: 5 results,  Open Access: 5 results,  Acknowledgement Compliant: 3 results) Presentation (30 results) (of which Int'l Joint Research: 15 results) Remarks (2 results) Patent(Industrial Property Rights) (2 results)

  • [Journal Article] Proposal of an Estimation Method of Emotional Centroid Based on the Russell’s Circumplex Model for Quantitative Evaluation of Affect2019

    • Author(s)
      江川翔一,瀬島吉裕,佐藤洋一郎
    • Journal Title

      Transactions of Japan Society of Kansei Engineering

      Volume: 18 Issue: 3 Pages: 187-193

    • DOI

      10.5057/jjske.TJSKE-D-18-00069

    • NAID

      130007638195

    • ISSN
      1884-0833, 1884-5258
    • Related Report
      2018 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] A pupil response system for inducing empathy by laugh response in voice communication2017

    • Author(s)
      江川翔一,瀬島吉裕,佐藤洋一郎,渡辺富夫
    • Journal Title

      Transactions of the JSME (in Japanese)

      Volume: 83 Issue: 853 Pages: 17-00076-17-00076

    • DOI

      10.1299/transjsme.17-00076

    • NAID

      130006100005

    • ISSN
      2187-9761
    • Related Report
      2017 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Speech-driven embodied entrainment character system with pupillary response2016

    • Author(s)
      Yoshihiro Sejima, Yoichiro Sato, Tomio Watanabe and Mitsuru Jindai
    • Journal Title

      Mechanical Engineering Journal

      Volume: 3 Issue: 4 Pages: 15-00314-15-00314

    • DOI

      10.1299/mej.15-00314

    • NAID

      130005169832

    • ISSN
      2187-9745
    • Related Report
      2016 Research-status Report
    • Peer Reviewed / Open Access / Int'l Joint Research / Acknowledgement Compliant
  • [Journal Article] Estimation model of interaction-activated communication based on the heat conduction equation2016

    • Author(s)
      Yoshihiro Sejima, Tomio Watanabe and Mitsuru Jindai
    • Journal Title

      Journal of Advanced Mechanical Design, Systems, and Manufacturing

      Volume: 10 Issue: 9 Pages: JAMDSM0103-JAMDSM0103

    • DOI

      10.1299/jamdsm.2016jamdsm0103

    • NAID

      130005279559

    • ISSN
      1881-3054
    • Related Report
      2016 Research-status Report
    • Peer Reviewed / Open Access / Int'l Joint Research / Acknowledgement Compliant
  • [Journal Article] A speech-driven embodied entrainment character system for supporting line-of-sight interaction using an interaction-activated communication model2016

    • Author(s)
      瀬島吉裕、小野光貴、渡辺富夫
    • Journal Title

      Transactions of the JSME (in Japanese)

      Volume: 82 Issue: 842 Pages: 16-00114-16-00114

    • DOI

      10.1299/transjsme.16-00114

    • NAID

      130005433179

    • ISSN
      2187-9761
    • Related Report
      2016 Research-status Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Presentation] Development of a Pupil Response System with Empathy Expression in Face-to-Face Body Contact2019

    • Author(s)
      Yoshihiro Sejima, Yoichiro Sato, Tomio Watanabe
    • Organizer
      10th International Conference on Applied Human Factors and Ergonomics and the Affiliated Conferences (AHFE2019)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 親近感向上のための身体接触に基づく瞳孔反応ペットロボットの開発2019

    • Author(s)
      瀬島吉裕,佐藤洋一郎,渡辺富夫
    • Organizer
      日本機械学会 ロボティクス・メカトロニクス講演会2019
    • Related Report
      2018 Annual Research Report
  • [Presentation] A Speech-Driven Pupil Response System with Affective Expression Using Hemispherical Displays2018

    • Author(s)
      Yoshihiro Sejima, Shoichi Egawa, Ryosuke Maeda, Yoichiro Sato, Tomio Watanabe
    • Organizer
      27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN2018)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A Video Communication System with a Virtual Pupil CG Superimposed on the Partner's Pupil2018

    • Author(s)
      Yoshihiro Sejima, Ryosuke Maeda, Daichi Hasegawa, Yoichiro Sato, Tomio Watanabe
    • Organizer
      20th International Conference on Human-Computer Interaction (HCII2018)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development of a Video Chat System Superimposing a Pupil CG Synchronized with Utterance on the Partner's Pupil2018

    • Author(s)
      Ryosuke Maeda, Shoichi Egawa, Yoshihiro Sejima, Yoichiro Sato, Tomio Watanabe
    • Organizer
      23rd International Symposium on Artificial Life and Robotics (AROB2018)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 対話者の同時発声を付加した熱伝導方程式に基づく場の盛り上がり推定モデル2018

    • Author(s)
      瀬島吉裕,渡辺富夫,佐藤洋一郎
    • Organizer
      日本機械学会 第28回設計工学・システム部門講演会
    • Related Report
      2018 Annual Research Report
  • [Presentation] 聞き手の頭部動作に同調する瞳孔反応生成キャラクタの開発2018

    • Author(s)
      前田涼介,長谷川大地,瀬島吉裕,佐藤洋一郎,渡辺富夫
    • Organizer
      日本機械学会 第28回設計工学・システム部門講演会
    • Related Report
      2018 Annual Research Report
  • [Presentation] 子どもとの親近性向上のための遊びロボットにおける瞳孔反応を用いたインタラクション設計2018

    • Author(s)
      瀬島吉裕,前田涼介,長谷川大地,佐藤洋一郎,渡辺富夫
    • Organizer
      日本機械学会 2018年度年次大会
    • Related Report
      2018 Annual Research Report
  • [Presentation] コミュニケーションロボットのための時間的眼色変化を付加した感情表現2018

    • Author(s)
      瀬島吉裕,佐藤洋一郎
    • Organizer
      第20回日本感性工学会大会
    • Related Report
      2018 Annual Research Report
  • [Presentation] 対面における身体接触を伴う共感表現を付加した瞳孔反応システムの開発2018

    • Author(s)
      瀬島吉裕,前田涼介,長谷川大地,佐藤洋一郎,渡辺富夫
    • Organizer
      日本機械学会 ロボティクス・メカトロニクス講演会2018
    • Related Report
      2018 Annual Research Report
  • [Presentation] A Speech-Driven Embodied Communication System Based on an Eye Gaze Model in Interaction-Activated Communication2017

    • Author(s)
      Yoshihiro Sejima, Koki Ono, Tomio Watanabe
    • Organizer
      the 19th International Conference on Human-Computer Interaction (HCII2017)
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] A Speech-Driven Pupil Response Robot Synchronized with Burst-Pause of Utterance2017

    • Author(s)
      Yoshihiro Sejima, Shoichi Egawa, Ryosuke Maeda, Yoichiro Sato, Tomio Watanabe
    • Organizer
      the 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN2017)
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] A Proposal of Pupil Response Model Synchronizing Burst-Pause of Speech Based on the Heat Conduction Equation2017

    • Author(s)
      Shoichi Egawa, Yoshihiro Sejima, Ryosuke Maeda, Yoichiro Sato, Tomio Watanabe
    • Organizer
      SICE Annual Conference 2017 (SICE2017)
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] 発話呼気に同期する瞳孔反応生成モデルの提案2017

    • Author(s)
      江川翔一,瀬島吉裕,佐藤洋一郎,渡辺富夫
    • Organizer
      2017年電子情報通信学会総合大会
    • Related Report
      2017 Research-status Report
  • [Presentation] 発話呼気に同期する音声駆動型瞳孔反応ロボットPupiloidの開発2017

    • Author(s)
      瀬島吉裕,江川翔一,前田涼介,佐藤洋一郎,渡辺富夫
    • Organizer
      ロボティクス・メカトロニクス講演会2017
    • Related Report
      2017 Research-status Report
  • [Presentation] 熱伝導方程式に基づく発話呼気に同調する瞳孔反応生成モデルの開発2017

    • Author(s)
      瀬島吉裕,江川翔一,前田涼介,佐藤洋一郎,渡辺富夫
    • Organizer
      日本機械学会 2017年度年次大会
    • Related Report
      2017 Research-status Report
  • [Presentation] 発話呼気に同期する瞳孔CGモデルを瞳孔に重畳合成したビデオチャットシステムの開発2017

    • Author(s)
      前田涼介,江川翔一,瀬島吉裕,佐藤洋一郎,渡辺富夫
    • Organizer
      日本機械学会第27回設計工学・システム部門講演会
    • Related Report
      2017 Research-status Report
  • [Presentation] 半球ディスプレイを用いた瞳孔反応インタフェース2017

    • Author(s)
      江川翔一,瀬島吉裕,前田涼介,佐藤洋一郎,渡辺富夫
    • Organizer
      日本機械学会第27回設計工学・システム部門講演会
    • Related Report
      2017 Research-status Report
  • [Presentation] 場の盛り上がり推定モデルに基づく身体性アバタ影色表現システム2017

    • Author(s)
      瀬島吉裕,石井裕,渡辺富夫
    • Organizer
      日本機械学会第27回設計工学・システム部門講演会
    • Related Report
      2017 Research-status Report
  • [Presentation] 熱伝導方程式に基づく集団コミュニケーションにおける場の盛り上がり推定モデルの提案2017

    • Author(s)
      江川翔一,瀬島吉裕,前田涼介,佐藤洋一郎,渡辺富夫
    • Organizer
      第68回電気・情報関連学会中国支部連合大会
    • Related Report
      2017 Research-status Report
  • [Presentation] 親近性向上のための瞳孔反応を用いた遊びロボットシステムの開発2017

    • Author(s)
      江川翔一,前田涼介,長谷川大地,瀬島吉裕,佐藤洋一郎,渡辺富夫
    • Organizer
      第14回子ども学会議大会
    • Related Report
      2017 Research-status Report
  • [Presentation] 情動評価のためのラッセルの円環モデルに基づく感情重心推定手法の提案2017

    • Author(s)
      江川翔一,瀬島吉裕,佐藤洋一郎
    • Organizer
      第48回あいまいと感性研究部会ワークショップ
    • Related Report
      2017 Research-status Report
  • [Presentation] A Laughing-driven Pupil Response System for Inducing Empathy2016

    • Author(s)
      Shoichi Egawa, Yoshihiro Sejima, Yoichiro Sato, Tomio Watanabe
    • Organizer
      the 2016 IEEE/SICE International Symposium on System Integration (SII2016)
    • Place of Presentation
      札幌コンベンションセンター
    • Year and Date
      2016-12-13
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] 複数の瞳孔反応インタフェースを用いたプレゼンテーション支援システムの開発2016

    • Author(s)
      江川翔一,瀬島吉裕,岡本大地,佐藤洋一郎,渡辺富夫
    • Organizer
      2016年IEEE広島学生シンポジウム論文集
    • Place of Presentation
      山口大学常盤キャンパス
    • Year and Date
      2016-11-19
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] 笑い反応による共感誘発のための瞳孔反応システムの評価2016

    • Author(s)
      江川翔一,瀬島吉裕,佐藤洋一郎,渡辺富夫
    • Organizer
      日本機械学会第26回設計工学・システム部門講演会
    • Place of Presentation
      慶應義塾大学日吉キャンパス
    • Year and Date
      2016-10-08
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] Development of an Embodied Avatar System using Avatar-Shadow's Color Expressions with an Interaction-activated Communication Model2016

    • Author(s)
      Yutaka Ishii, Tomio Watanabe, Yoshihiro Sejima
    • Organizer
      the 4th annual International Conference on Human-Agent Interaction (HAI2016)
    • Place of Presentation
      ワン・ノース
    • Year and Date
      2016-10-04
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] 発話音声に基づく投影型瞳孔反応ディスプレイの開発2016

    • Author(s)
      瀬島吉裕,太田俊介,江川翔一,佐藤洋一郎,渡辺富夫
    • Organizer
      日本機械学会 2016年度年次大会
    • Place of Presentation
      九州大学伊都キャンパス
    • Year and Date
      2016-09-12
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] Pupiloid: A Pupil Response Robot for Emotional Expression in Voice Communication2016

    • Author(s)
      Yoshihiro Sejima, Shoichi Egawa, Yoichiro Sato, Tomio Watanabe
    • Organizer
      the 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN2016)
    • Place of Presentation
      コロンビア大学
    • Year and Date
      2016-08-26
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] Pupiloid: 情動表現のための瞳孔反応ロボットの開発2016

    • Author(s)
      瀬島吉裕,江川翔一,岡本大地,佐藤洋一郎,渡辺富夫
    • Organizer
      ロボティクス・メカトロニクス講演会2016講演論文集
    • Place of Presentation
      パシフィコ横浜
    • Year and Date
      2016-06-09
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] 笑い表現による共感を誘発する瞳孔反応システムの開発2016

    • Author(s)
      江川翔一,瀬島吉裕,岡本大地,佐藤洋一郎,渡辺富夫
    • Organizer
      ロボティクス・メカトロニクス講演会2016講演論文集
    • Place of Presentation
      パシフィコ横浜
    • Year and Date
      2016-06-09
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Remarks] 岡山県立大学情報工学部人間情報工学科 佐藤・瀬島研究室

    • URL

      http://www-ce.ss.oka-pu.ac.jp/

    • Related Report
      2017 Research-status Report
  • [Remarks] 岡山県立大学情報工学部人間情報工学科 コンピュータ工学研究室

    • URL

      http://www-ce.ss.oka-pu.ac.jp/

    • Related Report
      2016 Research-status Report
  • [Patent(Industrial Property Rights)] ロボット装置2019

    • Inventor(s)
      瀬島吉裕,佐藤洋一郎
    • Industrial Property Rights Holder
      瀬島吉裕,佐藤洋一郎
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2019-034576
    • Filing Date
      2019
    • Related Report
      2018 Annual Research Report
  • [Patent(Industrial Property Rights)] 瞳孔反応を用いた情報処理システム2017

    • Inventor(s)
      瀬島吉裕、佐藤洋一郎、渡辺富夫
    • Industrial Property Rights Holder
      瀬島吉裕、佐藤洋一郎、渡辺富夫
    • Industrial Property Rights Type
      特許
    • Filing Date
      2017
    • Related Report
      2017 Research-status Report

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Published: 2016-04-21   Modified: 2020-03-30  

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