Papers - OGAWA Kohei

Effects of the Behavior of a Para-operated Robot on the Impression of the Operator: a Preliminary Online Study Considering the Robot-operator Distance Reviewed

Tomonori Kubota, Kohei Ogawa

International Conference on Human-Agent Interaction 2023     2023.12

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Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)  

Investigating the Intervention in Parallel Conversations Invited Reviewed

Shota Mochizuki, Sanae Yamashita, Kazuyoshi Kawasaki, Reiko Yuasa Tomonori Kubota, Kohei Ogawa, Jun Baba, Ryuichiro Higashinaka

Proceedings of the 11th International Conference on Human-Agent Interaction, 2023     2023.12

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Language：English   Publishing type：Research paper (international conference proceedings)  

Investigating the Effects of Dialogue Summarization on Intervention in Human-System Collaborative Dialogue Reviewed

Sanae Yamashita, Shota Mochizuki, Kazuyoshi Kawasaki, Tomonori Kubota, Kohei Ogawa, Jun Baba, Ryuichiro Higashinaka

International Conference on Human-Agent Interaction 2023     2023.12

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Language：English   Publishing type：Research paper (international conference proceedings)  

Immersive role-playing with avatars leads to adoption of others' personalities Reviewed

Hiroshi Sakuma, Hideyuki Takahashi, Kohei Ogawa, Hiroshi Ishiguro

Frontiers in Virtual Reality   Vol. 4   2023.3

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Language：English   Publishing type：Research paper (scientific journal)  

構造化された情報を会話表現に変換する技術の実現と評価 Reviewed

磯和隆道, 小川浩平 , 佐藤理史, 石黒浩

情報処理学会論文誌   Vol. 64 ( 1 ) page： 200 - 213   2023.1

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Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)  

Behavioral Assessment of a Humanoid Robot When Attracting Pedestrians in a Mall

Yuki Okafuji, Yasunori Ozaki, Jun Baba, Junya Nakanishi, Kohei Ogawa, Yuichiro Yoshikawa, Hiroshi Ishiguro

International Journal of Social Robotics   Vol. 14 ( 7 ) page： 1731 - 1747   2022.7

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Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media LLC  

Abstract

Research is currently being conducted on the use of robots as human labor support technology. In particular, the service industry needs to allocate more manpower, and it will be important for robots to support people. This study focuses on using a humanoid robot as a social service robot to convey information in a shopping mall, and the types of robot behaviors were analyzed. In order to convey the information, two processes must occur. Pedestrians must stop in front of the robot, and the robot must continue the engagement with them. For the purpose of this study, three types of autonomous robot behaviors were analyzed and compared in these processes in the experiment: greeting, in-trouble, dancing behaviors. After interactions were attempted with 5,000+ pedestrians, this study revealed that the in-trouble behavior can make pedestrians stop more and stay longer. In addition, in order to evaluate the effectiveness of the robot in a real environment, the comparative results between three robot behaviors and human advertisers revealed that (1) the results of the greeting and dancing behavior are comparable to those of the humans, and (2) the performance of the in-trouble behavior in providing information tasks is higher than that of all human advertisers. These findings demonstrate that the performance of robots is comparable to that of humans in providing information tasks in a limited environment; therefore, it is expected that service robots as a labor support technology will be able to perform well in the real world.

DOI： 10.1007/s12369-022-00907-9

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Other Link： https://link.springer.com/article/10.1007/s12369-022-00907-9/fulltext.html

Alignment of the attitude of teleoperators with that of a semi-autonomous android Reviewed

Tomonori Kubota, Kohei Ogawa, Yuichiro Yoshikawa, Hiroshi Ishiguro

Scientific Reports   Vol. 12 ( 1 )   2022.6

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Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media LLC  

Abstract

Studies on social robots that can communicate with humans are increasingly important. In particular, semi-aautonomous robots have shown potential for practical applications in which robot autonomy and human teleoperation are jointly used to accomplish difficult tasks. However, it is unknown how the attitude represented in the autonomous behavior of the robots affects teleoperators. Previous studies reported that when humans play a particular role, their attitudes align with that role. The teleoperators of semi-autonomous robots also play the role given to the robots and may assimilate their autonomous expression. We hypothesized that the attitude of teleoperators may align with that of robots through teleoperation. To verify this, we conducted an experiment with conditions under which a participant operated a part of the body of an android robot that autonomously expressed a preferential attitude toward a painting and a condition under which they did not. Experimental results demonstrated that the preferential attitude of participants who teleoperated the android aligned statistically significantly more with that of the robot in comparison to those who did not teleoperate it, thereby supporting our hypothesis. This finding is novel regarding attitude change in teleoperators of semi-autonomous robots and can support the implementation of effective human-robot collaboration systems.

DOI： 10.1038/s41598-022-13829-3

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Other Link： https://www.nature.com/articles/s41598-022-13829-3

Identifying Personality Dimensions for Engineering Robot Personalities in Significant Quantities with Small User Groups Reviewed

Liangyi Luo, Kohei Ogawa, Hiroshi Ishiguro

Robotics   Vol. 11 ( 1 ) page： 28 - 28   2022.2

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

Future service robots mass-produced for practical applications may benefit from having personalities. To engineer robot personalities in significant quantities for practical applications, we need first to identify the personality dimensions on which personality traits can be effectively optimised by minimising the distances between engineering targets and the corresponding robots under construction, since not all personality dimensions are applicable and equally prominent. Whether optimisation is possible on a personality dimension depends on how specific users consider the personalities of a type of robot, especially whether they can provide effective feedback to guide the optimisation of certain traits on a personality dimension. The dimensions may vary from user group to user group since not all people consider a type of trait to be relevant to a type of robot, which our results corroborate. Therefore, we had proposed a test procedure as an engineering tool to identify, with the help of a user group, personality dimensions for engineering robot personalities out of a type of robot knowing its typical usage. It applies to robots that can imitate human behaviour and small user groups with at least eight people. We confirmed its effectiveness in limited-scope tests.

DOI： 10.3390/robotics11010028

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Development of simultaneous summarizing technology of multiple sites context for multiple agent tele-operation system

KAWASAKI Kazuyoshi, OGAWA Kohei

Proceedings of the Annual Conference of JSAI   Vol. JSAI2022 ( 0 ) page： 2F1GS904 - 2F1GS904   2022

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Language：Japanese   Publisher：The Japanese Society for Artificial Intelligence  

<p>When an operator teleoperates with semi-autonomous conversational robots simultaneously installed at multiple locations, the operator needs to quickly understand the context of the situation to change the operating robot. Therefore, clarifying suitable summarization methods for each typical situation for the use-case of multiple conversational robots provides sufficient conversational services. In this paper, we proposed a summarization method for each situation and researched if operators can understand the context more quickly by the proposed method than the standard method. Firstly, we categorized conversation situations by task-orientation of possible use-case in conversational robots, and then we focused on the "taking out of food" and "chitchat" as a task-oriented and non-task-oriented conversational situation. Finally, we researched the suited summarization method by comparing the proposed method and the common one. As a result, we found that the proposed method suits for focused conversational situations to understand the contents of a conversation.</p>

DOI： 10.11517/pjsai.jsai2022.0_2f1gs904

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Report of the Case of Constructing Dialogue Design Patterns for Agent System Based on the Standard Dialogue Structure Reviewed

Yoshimi Tominaga, Hideki Tanaka, Hitoshi Matsubara, Hiroshi Ishiguro, Kohei Ogawa

Transactions of the Japanese Society for Artificial Intelligence   Vol. 36 ( 5 ) page： AG21 - F_1   2021.9

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Authorship：Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japanese Society for Artificial Intelligence  

<p>To design a dialogue well and easily implement it into an agent dialogue system, we constructed and verified typical dialogue patterns as “ Dialogue Design Patterns ”. To analyze the dialogues, we defined the “ Standard Dialogue Structure ”that represents simple components of dialogues. This is constructed using the“ Turn ”that is one turn-taking between the dialogue participants, the“ Topic ”that is a series of Turns in which a single question is resolved, the“Topic-shift”that is short interaction in which a consensus is built before moving to the next Topic, and the“ Scene ”that puts together each component. We investigated the frequent patterns of dialogue in the Topic. We analyzed the content of each Turn’s utterances on two axes:“convey-receive”and“logical-emotional”. These Turns were labeled on a four-quadrant impression as“ teach ”(logical convey),“ empathy ”(emotional convey),“ survey ” (logical receive), and“ listen ”(emotional receive). We analyzed the frequency of appearance for these labels in the Turns for each Topic using frequent pattern analysis, and we found several typical patterns that order these labels. We named these the patterns and determined their tendency scores. The tendencies of these patterns were categorized into“ information amount ”,“ cooperation ”, and“ balance ”. Finally, we implemented a dialogue scenario created using the Standard Dialogue Structures and Dialogue Design Patterns in our system. In the feasibility study with local government employees, the achievement rate of agent dialogue was more than 50%, and it higher than our previous system. This shows that dialogues based on Dialogue Design Patterns can facilitate agent dialogue. In conclusion, we showed that applying the Standard Dialogue Structure and Dialogue Design Patterns to dialogues in a human-agent dialogue system is a practical and possible way of easily implementing effective dialogues that facilitate interaction even for novices in dialogue design.</p>

DOI： 10.1527/tjsai.36-5_ag21-f

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Android Kannon: Transmission with a metaphysical content by a media integrating an android and projection mapping Reviewed

Taniguchi Dai, Ogawa Kohei, Isobe Yumi, Goto Tensho, Ishiguro Hiroshi

Transactions of the Virtual Reality Society of Japan   Vol. 26 ( 4 ) page： 288 - 297   2021.9

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：THE VIRTUAL REALITY SOCIETY OF JAPAN  

<p>With the development of engineering technology, many attempts have been made to persuade humans using engineering technology. Research on persuasion toward physical purposes using engineering technology has been conducted. For example, about changing attitudes toward purchasing products. On the other hand, for persuasion toward metaphysical purposes such as understanding abstract concepts and religious ideas, no methodology for using engineering technology has been established. This research aimed to realize persuasion toward metaphysical purposes. We focused on persuasion on the peripheral route in the elaboration likelihood model, and targeted transmission of Buddhist Doctrine as a metaphysical content. In order to achieve this, we have developed the media integrating an android and projection mapping. We discussed the relationship between the conventional media for transmission of Buddhist Doctrine and the developed system, and conducted the field experiment to verify the effectiveness of the developed system. As a result of the analysis, it was shown that the developed system could be effective for the transmission of Buddhist Doctrine. In the future, we plan to verify the effectiveness of the developed system outside of the transmission of Buddhism, and the synergistic effects that occur only by integrating an android and projection mapping in laboratory experiments.</p>

DOI： 10.18974/tvrsj.26.4_288

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Active Participation in Lectures via a Collaboratively Controlled Robot

Jiro Shimaya, Yuichiro Yoshikawa, Oskar Palinko, Kohei Ogawa, Nobuhiro Jinnai, Hiroshi Ishiguro

International Journal of Social Robotics   Vol. 13 ( 4 ) page： 587 - 598   2021.7

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media B.V.  

Information technology, including digital devices, robots, and the internet, is of great interest in the field of education. Many previous studies have focused on improving lecturer–student communication during lectures. In this paper, we describe a new robot-teleoperation system for transferring students’ opinions or questions to the lecturer. Through this system, users can collaboratively choose a message to be uttered by a robot. We report the results of a subjective experiment performed in a controlled lecture-style environment. The results show that participation, as estimated from behavioral and subjective measures, increased in lectures using the proposed system compared with those that did not use the proposed system or employed a reduced version of the proposed system in which the robot was controlled individually (i.e., non-collaboratively).

DOI： 10.1007/s12369-020-00651-y

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Using Multiple Robots to Increase Suggestion Persuasiveness in Public Space Reviewed

Marcos Inky Tae, Kohei Ogawa, Yuichiro Yoshikawa, Hiroshi Ishiguro

Applied Sciences   Vol. 11 ( 13 ) page： 6080 - 6080   2021.6

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

Though existing social robots can already be used in a variety of applications, there are technical limitations to their use, especially outside the laboratory, and humans do not fully trust or recognize them. Considering these problems, a method to make humans accept a robot’s suggestion more easily was investigated. An idea called “sequential persuasion” was developed to use multiple robots distant from each other to deliver small messages, rather than a single robot for the entire interaction. To experimentally validate this concept, a field experiment was performed on a university campus. Two bottles of hand sanitizer were placed in one of the entrances to a building, and their usage was observed under three different conditions: no robot, one robot, and three robots. As people passed through the entrance corridor, the robots promoted the usage of the hand sanitizers. After several days of testing, it was found that the usage increased progressively from no robot to one robot to three robots, indicating that the number of robots influenced the behavior of the humans.

DOI： 10.3390/app11136080

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Robotic question support system to reduce hesitation for face‐to‐face questions in lectures Reviewed

Jiro Shimaya, Yuichiro Yoshikawa, Kohei Ogawa, Hiroshi Ishiguro

Journal of Computer Assisted Learning   Vol. 37 ( 3 ) page： 621 - 631   2021.6

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Wiley  

DOI： 10.1111/jcal.12511

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Other Link： https://onlinelibrary.wiley.com/doi/full-xml/10.1111/jcal.12511

Development and Effectiveness Evaluation of Interactive Voice HMI System Reviewed

Chiharu KATAOKA, Osamu KUKIMOTO, Yuichiro YOSHIKAWA, Kohei OGAWA, Hiroshi ISHIGURO

IEICE Transactions on Information and Systems   Vol. E104.D ( 4 ) page： 500 - 507   2021.4

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electronics, Information and Communications Engineers (IEICE)  

<p>Connected services have been under development in the automotive industry. Meanwhile, the volume of predictive notifications that utilize travel-related data is increasing, and there are concerns that drivers cannot process such an amount of information or do not accept and follow such predictive instructions straightforwardly because the information provided is predicted. In this work, an interactive voice system using two agents is proposed to realize notifications that can easily be accepted by drivers and enhance the reliability of the system by adding contextual information. An experiment was performed using a driving simulator to compare the following three forms of notifications: (1) notification with no contextual information, (2) notification with contextual information using one agent, and (3) notification with contextual information using two agents. The notification content was limited to probable near-miss incidents. The results of the experiment indicate that the driver may decelerate more with the one- and two-agent notification methods than with the conventional notification method. The degree of deceleration depended the number of times the notification was provided and whether there were cars parked on the streets.</p>

DOI： 10.1587/transinf.2020edp7068

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Standard Dialogue Structure and Frequent Patterns in the Agent Dialogue System Reviewed

Yoshimi Tominaga, Hideki Tanaka, Hiroshi Ishiguro, Kohei Ogawa

Distributed, Ambient and Pervasive Interactions   Vol. 12782 LNCS   page： 348 - 360   2021

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Authorship：Last author   Language：Japanese   Publishing type：Part of collection (book)   Publisher：Springer International Publishing  

DOI： 10.1007/978-3-030-77015-0_25

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What It is Like When Your Colleague is a Philosopher

Koyama Tora, Minato Takashi, Ogawa Kohei, Yoshikawa Yuichiro

Journal of the Robotics Society of Japan   Vol. 39 ( 1 ) page： 39 - 44   2021

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Language：Japanese   Publisher：The Robotics Society of Japan  

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DOI： 10.7210/jrsj.39.39

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Standard Dialogue Structure and Frequent Patterns in the Agent Dialogue System Reviewed

Yoshimi Tominaga, Hideki Tanaka, Hiroshi Ishiguro, Kohei Ogawa

Distributed, Ambient and Pervasive Interactions 2021     page： 348 - 360   2021

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Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)  

Promoting Student Utterances Using a Robot Assisted Questioning System: Field Experiment in a Lecture for High-School and University Students Reviewed

Shimaya Jiro, Palinko Oskar, Yoshikawa Yuichiro, Jinnai Nobuhiro, Ogawa Kohei, Ishiguro Hiroshi

The Transactions of Human Interface Society   Vol. 22 ( 4 ) page： 369 - 380   2020.11

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Human Interface Society  

During classroom-type lectures, some students feel difficulty in asking questions, although it is considered to improve the lecture quality and students’ understanding. We propose a system called Robot-Assisted Questioning System (RAQS) that can promote teacher-student communication in the lecture. It allows students to post questions and opinions on an online messaging interface. The messages were sent to a robot to be posed to the teacher, with or without the voting procedure. In this paper, we report a case study of the field experiment in a lecture which was assisted by RAQS. Students found RAQS efficient and useful for improving their communication with the teacher. For the practical use, the results suggest a future improvement of the system to add the function for controlling the number of robot utterance to avoid interference with the teaching process.

DOI： 10.11184/his.22.4_369

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Smart speaker vs. social robot in a case of hotel room

Nakanishi J.

IEEE International Conference on Intelligent Robots and Systems     page： 11391 - 11396   2020.10

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Publishing type：Research paper (scientific journal)   Publisher：IEEE International Conference on Intelligent Robots and Systems  

DOI： 10.1109/IROS45743.2020.9341537

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Japanese Young Women Did not Discriminate between Robots and Humans as Listeners for Their Self-Disclosure -Pilot Study- Reviewed

Takahisa Uchida, Hideyuki Takahashi, Midori Ban, Jiro Shimaya, Takashi Minato, Kohei Ogawa, Yuichiro Yoshikawa, Hiroshi Ishiguro

Multimodal Technologies and Interaction   Vol. 4 ( 3 ) page： 35 - 35   2020.6

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

Disclosing personal matters to other individuals often contributes to the maintenance of our mental health and social bonding. However, in face-to-face situations, it can be difficult to prompt others to self-disclose because people often feel embarrassed disclosing personal matters to others. Although artificial agents without strong social pressure for listeners to induce self-disclosure is a promising engineering method that can be applied in daily stress management and reduce depression, gender difference is known to make a drastic difference of the attitude toward robots. We hypothesized that, as compared to men, women tend to prefer robots as a listener for their self-disclosure. The experimental results that are based on questionnaires and the actual self-disclosure behavior indicate that men preferred to self-disclose to the human listener, while women did not discriminate between robots and humans as listeners for their self-disclosure in the willingness and the amount of self-disclosure. This also suggests that the gender difference needs to be considered when robots are used as a self-disclosure listener.

DOI： 10.3390/mti4030035

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Can a humanoid robot continue to draw attention in an office environment? Reviewed

Yuki Okafuji, Jun Baba, Junya Nakanishi, Itaru Kuramoto, Kohei Ogawa, Yuichiro Yoshikawa, Hiroshi Ishiguro

Advanced Robotics     page： 1 - 16   2020.6

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Informa UK Limited  

DOI： 10.1080/01691864.2020.1769724

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Teleoperated Robot Acting Autonomous for Better Customer Satisfaction Reviewed

Jun Baba, Song Sichao, Junya Nakanishi, Itaru Kuramoto, Kohei Ogawa, Yuichiro Yoshikawa, Hiroshi Ishiguro

Extended Abstracts of the 2020 CHI Conference on Human Factors in Computing Systems     2020.4

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ACM  

DOI： 10.1145/3334480.3375212

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人口減少社会におけるコミュニティ形成に必要となるアプリケーション開発 Reviewed

冨永 善視, 田中 秀樹, 成本 迅, 石黒 浩, 小川 浩平

デジタルプラクティス   Vol. 11 ( 2 ) page： 389 - 413   2020.4

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Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)  

我が国は人口減少社会という次代の社会構造への過渡期にあり，社会・産業構造の再構成に取り組んでいる．人口減少社会においては，人口そのものが少ないために，地域を基盤とした従来のコミュニティ形成が困難となっている．一方，若年層の間では，互いの詳細な個人情報を持たないインターネット上のサービスで実現された「弱いつながり」により，災害時などの互助を実現する「強いコミュニティ」が形成されている．我々は，人口減少社会におけるICT基盤となるサービスは，高齢者や知的ハンディキャップを持つ障碍者など多くの人間が利用でき，バーチャルエージェントも参加し人口減少分を補完し，互助の可能性を増大させ，孤独死などの不安を解消するサービスであると結論づけた．本稿では，「御用聞きAI」に実装した複数の機能について，利用者の評価や実証実験での利用率などの結果とともに，継続採用，停止した実績の紹介を行う．また，実証実験において「御用聞きAI」を実事業として運用した結果を元に，持続可能な仕組みづくりと高齢者の孤独感解消の観点から，基盤サービスとして注力すべき機能を再整理する．これらの考察を踏まえ，人口減少社会に必要な基盤サービスとは具体的にどのような機能を有するサービスであるか，「御用聞きAI」の最新版とともに明らかにする．

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遠隔操作ロボットのリズミカルな動作による 身体的・空間的一体感の強化 Reviewed

小原宗一郎, 高橋ともみ, 田中一晶, 小川浩平, 吉川雄一郎, 石黒浩, 岡夏樹

    2020.4

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Please Listen to Me

Yuki Okafuji, Yasunori Ozaki, Jun Baba, Asano Kitahara, Junya Nakanishi, Kohei Ogawa, Yuichiro Yoshikawa, Hiroshi Ishiguro

Companion of the 2020 ACM/IEEE International Conference on Human-Robot Interaction     2020.3

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1145/3371382.3378289

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Continuous Hospitality with Social Robots at a hotel Reviewed

Junya Nakanishi, Itaru Kuramoto, Jun Baba, Kohei Ogawa, Yuichiro Yoshikawa, Hiroshi Ishiguro

SN Applied Sciences   Vol. 2 ( 3 )   2020.3

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media LLC  

DOI： 10.1007/s42452-020-2192-7

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Other Link： http://link.springer.com/article/10.1007/s42452-020-2192-7/fulltext.html

Development and Verication of an Onsite-operated Android Robot Working Cooperatively with Humans in a Real Store Reviewed

Kubota Tomonori, Isowa Takamichi, Ogawa Kohei, Ishiguro Hiroshi

The Transactions of Human Interface Society   Vol. 22 ( 3 ) page： 275 - 290   2020

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Human Interface Society  

While the potential of adopting robots interacting with humans in stores was shown in the previous studies, however robots that can work with people in stores and provide services have not taken root in society yet. In this paper, we realized an android robot which can help the duties of the salespersons at a boutique as well as provide mental support by cooperating with them. We considered that it is important for such robots to not only serve the customers but also support the salespersons. Therefore, we first interviewed salespersons at a boutique to find out what they expect from the robot. The result of the survey showed that they mainly expect three points from the robot: 1) reducing the workload of salesperson, 2) providing mental support for salesperson, and 3) assisting salesperson to establish a good relationship with the customer. To deal with these issues, we implemented an onsite-operated android. Through an 11-day field experiment in a boutique, in which the salespersons used the android, it was observed that the android could contribute to the salespersons in some situation of the work, and more possibilities for the android to contribute to the salespersons in some different aspects was investigated.

DOI： 10.11184/his.22.3_275

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Development of an agent system induces humans’ behavior through a decision making

OGAWA Kohei

Proceedings of the Annual Conference of JSAI   Vol. JSAI2020 ( 0 ) page： 3J5OS9b01 - 3J5OS9b01   2020

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japanese Society for Artificial Intelligence  

<p>In this paper, we have described an attempt to gradually induce the intended behavior by continuing dialogue and promoting decision-making. In order to give people social influence through dialogue, it is important to continue the dialogue. Therefore, we described an attempt to keep the conversation between the robot and viewer for a long time in NicoLive Broadcasting. In addition, after the dialogue was able to be continued, it was found that the choice-based dialogue system presented multiple choices and encouraged decision-making, which affected the preferences and purchasing behavior of people.</p>

DOI： 10.11517/pjsai.jsai2020.0_3j5os9b01

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Realization of the system that reconstructs information into a conversation

ISOWA Takamichi, OGAWA Kohei, SATO Satoshi, ISHIGURO Hiroshi

Proceedings of the Annual Conference of JSAI   Vol. JSAI2020 ( 0 ) page： 2P4GS1105 - 2P4GS1105   2020

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japanese Society for Artificial Intelligence  

<p>Due to recent technological progress, various kinds of information, for example, objective information such as news and subjective information such as recommendations, are conveyed by various methods such as characters, photos, videos, robots, etc. Among them, it has become clear that conveying information using conversation makes it easier for the receiver to remain in memory than simply conveyed information. Therefore, by reconstructing information into conversation, we can convey information more efficiently. Two agents which has incomplete knowledge reconcile each other's knowledge and represent an attempt to understand each other's knowledge with conversation. Then we can reconstruct information into conversation. The two knowledge structures are created by dividing one complete knowledge structure into two incomplete ones. And the two agents aim to bring each knowledge structure closer to the complete one by reconciling each other's knowledge. The original complete knowledge structure is a structure with attributes, and form filling is performed using API. In addition, concrete conversations are created by filling incomplete sentences with words based on attributes. In this paper, we describe in detail the methods and techniques used for a system that realizes reconstructing information into conversation.</p>

DOI： 10.11517/pjsai.jsai2020.0_2p4gs1105

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Soliloquising Social Robot in a Hotel Room Reviewed

Junya Nakanishi, Itaru Kuramoto, Jun Baba, Kohei Ogawa, Yuichiro Yoshikawa, Hiroshi Ishiguro

Proceedings of the 31st Australian Conference on Human-Computer-Interaction     2019.12

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ACM  

DOI： 10.1145/3369457.3370913

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The Belle II physics book

Kou E.

Progress of Theoretical and Experimental Physics   Vol. 2019 ( 12 )   2019.12

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1093/ptep/ptz106

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How Prior Knowledge and Belief Affect our Attitude Toward the Android of "Soseki Natsume"? Reviewed

TAKAHASHI Hideyuki, IZUHARA Junsei, KAIDA Akiko, YAMAGUCHI Tadayoshi, SAKAI Kurima, KOYAMA Tora, OGAWA Kohei, ISHIGURO Hiroshi

Journal of Japan Society for Fuzzy Theory and Intelligent Informatics   Vol. 31 ( 5 ) page： 852 - 858   2019.10

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japan Society for Fuzzy Theory and Intelligent Informatics  

<p>It is well known that prior knowledge and belief substantially influence our attitude toward another person in an interpersonal communication scene. Meanwhile, in many cases, we do not use confirmed prior knowledge and belief in a human-robot interaction scene, because these entities do not have commonly shared identities. Hence, it is still unclear that how prior knowledge and belief affect our attitude toward artificial robots. In this study, we investigated how prior knowledge and belief influence our attitude toward android of "Soseki Natsume" who is one of most famous novelists in Japan. As a result, we found that prior knowledge about Soseki was weakly related to the subject's sense of reality of the android. Furthermore, we also found that the awe of artificial intelligence was strongly related to the subject's sense of reality of the android.</p>

DOI： 10.3156/jsoft.31.5_852

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Effect of Self-representation of Interaction History by the Robot on Perceptions of Mind and Positive Relationship: A Case Study on a Home-use Robot Reviewed

Hamed Mahzoon, Kohei Ogawa, Yuichiro Yoshikawa, Michiko Tanaka, Kento Ogawa, Ryouta Miyazaki, Yusaku Ota, Hiroshi Ishiguro

Advanced Robotics   Vol. 33 ( 21 ) page： 1 - 17   2019.9

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DOI： 10.1080/01691864.2019.1676823

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Development of an Effective Information Media Using Two Android Robots Reviewed

Toshiaki Nishio, Yuichiro Yoshikawa, Kohei Ogawa, Hiroshi Ishiguro

applied sciences   Vol. 9 ( 17 ) page： 3442   2019.8

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DOI： 10.3390/app9173442

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Maintaining the Sense of Agency in Semi-Autonomous Robot Conferencing Reviewed

Tanaka, Takenouchi, Ogawa, Yoshikawa, Nishio, Ishiguro

Future Internet   Vol. 11 ( 7 ) page： 143 - 143   2019.7

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In semi-autonomous robot conferencing, not only the operator controls the robot, but the robot itself also moves autonomously. Thus, it can modify the operator’s movement (e.g., adding social behaviors). However, the sense of agency, that is, the degree of feeling that the movement of the robot is the operator’s own movement, would decrease if the operator is conscious of the discrepancy between the teleoperation and autonomous behavior. In this study, we developed an interface to control the robot head by using an eye tracker. When the robot autonomously moves its eye-gaze position, the interface guides the operator’s eye movement towards this autonomous movement. The experiment showed that our interface can maintain the sense of agency, because it provided the illusion that the autonomous behavior of a robot is directed by the operator’s eye movement. This study reports the conditions of how to provide this illusion in semi-autonomous robot conferencing.

DOI： 10.3390/fi11070143

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いじめ仲裁を促進する発話者を装うチャットボット

植田智之, 中西惇也, 倉本到, 馬場惇, 吉川雄一郎, 小川浩平, 石黒浩

    2019.7

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Robotic Eyes That Express Personality Reviewed

Liangyi Luo, Naoki Koyama, Kohei Ogawa, Hiroshi Ishiguro

Advanced Robotics     page： 1 - 10   2019.3

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Robotic eyes that express personality Reviewed

Liangyi Luo, Naoki Koyama, Kohei Ogawa, Hiroshi Ishiguro

Advanced Robotics   Vol. 33 ( 7-8 ) page： 350 - 359   2019.3

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DOI： 10.1080/01691864.2019.1588164

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Sociability for Better Evaluation: Robot with Self-representation of Sociability Improves Perceived Mind Perception and Positive Relation by Interacting Human

Hamed Mahzoon, Kohei Ogawa, Yuichiro Yoshikawa, Michiko Tanaka, Kento Ogawa, Ryouta Miyazaki, Yusaku Ota, Hiroshi Ishiguro

    2019.1

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An Attitude of a Teleoperator Manipulating a Part of an Android’s Body Gets Close to an Attitude the Android Autonomously Expresses

Tomonori Kubota, Kohei Ogawa, Yuichiro Yoshikawa, Hiroshi Ishiguro

    2019.1

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Can a Humanoid Robot Engage in Heartwarming Interaction Service at a Hotel? Reviewed

Junya Nakanishi, Itaru Kuramoto, Jun Baba, Ogawa Kohei, Yuichiro Yoshikawa, Hiroshi Ishiguro

Proceedings of the 6th International Conference on Human-Agent Interaction     2018.12

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DOI： 10.1145/3284432.3284448

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AIがもたらすつながり 市民サービスとしての対話システム

冨永 善視, 小川 浩平, 田中 秀樹, 石黒 浩

行政&情報システム   Vol. 54 ( 6 ) page： 34-38   2018.12

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Improvement of Japanese adults’ English speaking skills via experiences speaking to a robot, Journal of Computer Assisted Learning Reviewed

Takamasa Iio, Ryota Maeda, Kohei Ogawa, Yuichiro Yoshikawa, Hiroshi Ishiguro, Kaori Suzuki, Tomohiro Aoki, Miharu Maesaki, Mika Hama

Journal of Computer Assisted Learning   Vol. 35 ( 2 )   2018.11

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DOI： 10.1111/jcal.12325

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Improving Teacher–Student Communication During Lectures Using a Robot and an Online Messaging/Voting System Reviewed

Oskar Palinko, Jiro Shimaya, Nobuhiro Jinnai, Kohei Ogawa, Yuichiro Yoshikawa, Hiroshi Ishiguro

    2018.8

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意思決定時の自己決定感を維持向上させるための エージェント間対話の周辺提示による情報推薦

前田 健太郎, 中西 惇也, 馬場 惇, 倉本 到, 小川 浩平, 吉川 雄一郎, 石黒 浩

    2018.6

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At the department store-can androids be salespeople in the real world?

Miki Watanabe, Kohei Ogawa, Hiroshi Ishiguro

Geminoid Studies: Science and Technologies for Humanlike Teleoperated Androids     page： 429 - 439   2018.4

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The roles of robots in the real world have become more diverse according to the bodily properties with which they are endowed. In this study, we aimed to determine the roles that androids, the bodily properties of which resemble those of humans, could serve in the real world. Selling and purchasing are common human activities. Therefore, we propose the use of an android as a salesperson utilizing cognitive and affective strategies that exploit the advantages of online- and counterselling methods. We conducted a field study to investigate whether androids can sell goods in a department store. The results show that the sales strategies were effective and that over 10 days the android sold 43 sweaters that cost approximately $100 each. These results provide important knowledge for determining how androids may fill new roles and communicate with humans in the real world.

DOI： 10.1007/978-981-10-8702-8_28

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Effect of perspective change on body ownership transfer

Kohei Ogawa, Koichi Taura, Shuichi Nishio, Hiroshi Ishiguro

Geminoid Studies: Science and Technologies for Humanlike Teleoperated Androids     page： 305 - 316   2018.4

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We previously investigated body ownership transfer to a teleoperated android body caused by motion synchronization between the robot and its operator. Although visual feedback is the only information provided from the robot side, as a result of body ownership transfer, some operators feel as if they are touched when the robot's body is touched. This illusion can help operators transfer their presence to the robotic body during teleoperation. By enhancing this phenomenon, we can improve the communication interface and the quality of the interaction between the operator and interlocutor. In this study, we examined the effect of a change in the operator's perspective on the body ownership transfer during teleoperation. According to the results of past studies on the rubber hand illusion (RHI), we hypothesized that a perspective change would suppress the body owner transfer. Our results, however, showed that under any perspective condition, the participants felt the body ownership transfer. This shows that its generation process differs for teleoperated androids and the RHI.

DOI： 10.1007/978-981-10-8702-8_19

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Do robot appearance and speech affect people's attitude? Evaluation through the ultimatum game

Shuichi Nishio, Kohei Ogawa, Yasuhiro Kanakogi, Shoji Itakura, Hiroshi Ishiguro

Geminoid Studies: Science and Technologies for Humanlike Teleoperated Androids     page： 263 - 277   2018.4

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In this study, we examined the factors that influence humans recognition of robots as social beings. Participants took part in sessions of the Ultimatum Game, a procedure frequently used in the fields of both economics and social psychology for examining peoples' attitudes toward others. In the experiment, several agents having different appearances were used, and speech stimuli, which were expected to induce a mentalizing effect on the participants' attitude toward the agents, were utilized. The results show that, while appearance per se did not elicit a significant difference in the participants attitudes, the mentalizing stimuli affected their attitudes in different fashions, depending on the robots' appearance. These results showed that elements such as a simple conversation with an agent and the agents' appearance are important factors that cause people to treat robots in a more humanlike fashion and as social beings.

DOI： 10.1007/978-981-10-8702-8_16

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Body ownership transfer to a teleoperated android

Shuichi Nishio, Tetsuya Watanabe, Kohei Ogawa, Hiroshi Ishiguro

Geminoid Studies: Science and Technologies for Humanlike Teleoperated Androids     page： 293 - 303   2018.4

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Teleoperators of android robots occasionally feel as if the robotic bodies are extensions of their own bodies. When others touch the android that they are teleoperating, even without tactile feedback, some operators feel as if they themselves have been touched. In the past, a similar phenomenon named the "Rubber Hand Illusion" was studied because it reflects the three-way interaction between vision, touch, and proprioception. In this study, we examined whether a similar three-way interaction occurs when the tactile sensation is replaced with android robot teleoperation. The results show that when the operator and the android motions are synchronized, operators feel as if their sense of body ownership is transferred to the android robot.

DOI： 10.1007/978-981-10-8702-8_18

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At the theater-possibilities of androids as poetry-reciting agents

Kohei Ogawa, Hiroshi Ishiguro

Geminoid Studies: Science and Technologies for Humanlike Teleoperated Androids     page： 455 - 466   2018.4

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In recent years, research on very humanlike androids has increased, in general investigating the following: (1) the manner in which people treat these very humanlike androids and (2) whether it is possible to replace existing communication media, such as telephones or TV conference systems, with androids as a communication medium. We found that androids have advantages over humans in specific contexts. For example, in a collaborative theatrical project between artists and androids, audiences were impressed by the androids that read poetry. We therefore experimentally compared androids and humans in a poetry-reciting context by conducting an experiment to illustrate the influence of an android who recited poetry. Participants listened to poetry that was read by three poetry-reciting agents: An android, a human model on which the android was based, and a box. The experimental results show that the participants scored their enjoyment of the poetry highest under the android condition, indicating that the android has an advantage for communicating the meaning of poetry.

DOI： 10.1007/978-981-10-8702-8_30

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At the theater-designing robot behavior in conversations based on contemporary colloquial theatre theory

Kohei Ogawa, Takenobu Chikaraishi, Yuichiro Yoshikawa, Oriza Hirata, Hiroshi Ishiguro

Geminoid Studies: Science and Technologies for Humanlike Teleoperated Androids     page： 441 - 454   2018.4

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The design of humanlike behavior for a robot that interacts with humans remains a central issue in the human-robot interaction (HRI) field because of humans sensitivity to humanlike objects. This issue is very challenging, because humanlikeness is an important factor in designing better interactions, since an imperfect design can easily cause negative impressions, as reflected by the uncanny valley phenomenon. This paper addresses this issue using a novel approach that utilizes implicit know-how for performing on stage dedicated to the stage representation of human beings. Contemporary colloquial theatre theory (CCTT), which is a theory applied in a method of directing plays, is appropriate for this purpose, since its reality-oriented instructions are directly applicable to improving robot behavior. In this paper, we report a case study involving the performance of a play in which both humans and a robot played roles. The play in our study was evaluated by the audiences of public performances in Japan. We also report a detailed analysis of HRI or human-human-robot interaction in comparable short plays. Our analysis implies that the robots utterances and motion timings should be tuned according to the situation. In future work, a motion capture system will be applied to obtain more precise data and more useful knowledge.

DOI： 10.1007/978-981-10-8702-8_29

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Can an android persuade you?

Kohei Ogawa, Christoph Bartneck, Daisuke Sakamoto, Takayuki Kanda, Tetsuo Ono, Hiroshi Ishiguro

Geminoid Studies: Science and Technologies for Humanlike Teleoperated Androids     page： 235-247   2018.4

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© Springer Nature Singapore Pte Ltd. 2018. The first robotic copies of real humans have become available. They enable their users to be physically present in multiple locations simultaneously. This study investigates the influence that the embodiment of an agent has on its persuasiveness and its perceived personality. Is a robotic copy as persuasive as its human counterpart? Does it have the same personality? We performed an experiment in which the embodiment of the agent was the independent variable and the persuasiveness and perceived personality were the dependent measurements. The persuasive agent advertised a Bluetooth headset. The results show that an android is perceived as being as persuasive as a real human or a video recording of a real human. The personality of the participant had a considerable influence on the measurements. Participants who were more open to new experiences rated the persuasive agent lower on agreeableness and extroversion. They were also more willing to spend money on the advertised product.

DOI： 10.1007/978-981-10-8702-8_14

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ロボットの情動的かつ社会的表情による人の親密さの強化 Reviewed

田中一晶, 小山直毅, 小川浩平, 石黒浩

情報処理学会論文誌   Vol. 59 ( 2 ) page： 622 - 632   2018.2

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音楽による操作者と移動ロボットとの一体感の創出 Reviewed

小原宗一郎, 田中 一晶, 小川浩平, 吉川雄一郎, 石黒浩, 岡夏樹

インタラクション2018     page： 106 - 114   2018.2

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採択率: 44.4%

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Implementation and Evaluation of Chat-oriented Dialogue System for an Android Robot in Live Streaming Media in Which Users Can Speak at Any Time Reviewed

Kubota Tomonori, Ogawa Kohei, Ishiguro Hiroshi

Transactions of the Japanese Society for Artificial Intelligence   Vol. 33 ( 1 ) page： 1 - 13   2018.1

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japanese Society for Artificial Intelligence  

<p>In this study, we developed and evaluated a dialogue system which enables an android robot to have a chat with users on Niconico Live provided by Dwango Co., Ltd. which is a live streaming service. In Niconico Live, broadcasters can talk to users who write comments displayed on the video stream. Therefore, by using Niconico Live chat, we eliminated speech recognition errors which can occur during speech conversations. In addition, the dialogue system can keep consistency of conversation by selecting the comment to which it can correctly respond because many comments are shown simultaneously on the video stream. The dialogue system was designed as a retrieval-based one which finds the appropriate response to user's utterance from a dialogue corpus. Therefore, we collected a dialogue corpus containing 4,460 pairs of comments and robot responses by teleoperating the android robot talking with users, as a first step. In the next step, we completed the dialogue system on Niconico Live integrating the dialogue corpus into it. To evaluate the performance of the dialogue system, we recorded the conversation between the android and users while running the designed system. After that, we showed the recorded conversation to evaluators and asked them how they feel about the naturalness and consistency of the conversation. Results of the experiment indicate that Niconico Live users perceived the responses of the dialogue system to be natural and found the chat with the android entertaining. Through this study, we demonstrated the applicability of the dialogue system on Niconico Live. However, it is difficult to discuss its effectiveness when applying it to other situations or other communication media such as a humanoid robot or a virtual agent. Therefore, as a future work, conducting a comparative experiment might lead to better understanding of the effectiveness of the dialogue system for androids.</p>

DOI： 10.1527/tjsai.DSH-G

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テキストチャットによるクレーム対応における話者の怒り感情を抑制する対話エージェント

倉本到, 馬場惇, 小川浩平, 吉川雄一郎, 川端貴幸, 石黒浩

    page： 1 - 8   2018.1

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Recommendation by peripheral representation of conservation of agents for improving self-determination sense in decision making Reviewed

Kentaro MAEDA, Junya NAKANISHI, Jun BABA, Itaru KURAMOTO, Kohei OGAWA, Yuichiro YOSHIKAWA, Hiroshi ISHIGURO

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2018 ( 0 ) page： 2A1 - C14   2018

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/jsmermd.2018.2a1-c14

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How should a robot interrupt a conversation between multiple humans

Oskar Palinko, Kohei Ogawa, Yuichiro Yoshikawa, Hiroshi Ishiguro

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   Vol. 11357   page： 149 - 159   2018

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Springer Verlag  

This paper addresses the question of how and when a robot should interrupt a meeting-style conversation between humans. First, we observed one-to-one human-human conversations. We then employed raters to estimate how easy it was to interrupt each participant in the video. At the same time, we gathered behavioral information about the collocutors (presence of speech, head pose and gaze direction). After establishing that the raters’ ratings were similar, we trained a neural network with the behavioral data as input and the interruptibility measure as output of the system. Once we validated the similarity between the output of our estimator and the actual interruptiblitiy ratings, we proceeded to implement this system on our desktop social robot, CommU. We then used CommU in a human-robot interaction environment, to investigate how the robot should barge-in into a conversation between multiple humans. We compared different approaches to interruption and found that users liked the interruptibility estimation system better than a baseline system which doesn’t pay attention to the state of the speakers. They also preferred the robot to give advance non-verbal notifications of its intention to speak.

DOI： 10.1007/978-3-030-05204-1_15

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Creation and staging of android theatre "Sayonara" towards developing highly human-like robots Reviewed

Takenobu Chikaraishi, Yuichiro Yoshikawa, Kohei Ogawa, Oriza Hirata, Hiroshi Ishiguro

Future Internet   Vol. 9 ( 4 ) page： 1 - 17   2017.11

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

Even after long-term exposures, androids with a strikingly human-like appearance evoke unnatural feelings. The behavior that would induce human-like feelings after long exposures is difficult to determine, and it often depends on the cultural background of the observers. Therefore, in this study, we generate an acting performance system for the android, in which an android and a human interact in a stage play in the real world. We adopt the theatrical theory called Contemporary Colloquial Theatre Theory to give the android natural behaviors so that audiences can comfortably observe it even after long-minute exposure. A stage play is created and shown in various locations, and the audiences are requested to report their impressions of the stage and their cultural and psychological backgrounds in a self-evaluating questionnaire. Overall analysis indicates that the audience had positive feelings, in terms of attractiveness, towards the android on the stage even after 20 min of exposure. The singularly high acceptance of the android by Japanese audiences seems to be correlated with a high animism tendency, rather than to empathy. We also discuss how the stage play approach is limited and could be extended to contribute to realization of human-robot interaction in the real world.

DOI： 10.3390/fi9040075

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Emotional or social?: How to enhance human-robot social bonding Reviewed

Naoki Koyama, Kazuaki Tanaka, Kohei Ogawa, Hiroshi Ishiguro

HAI 2017 - Proceedings of the 5th International Conference on Human Agent Interaction     page： 203 - 211   2017.10

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Association for Computing Machinery, Inc  

The behavior of a social robot is designed based on either its emotional state or social situation. In this research, we defined these expressions as the affective and social expressions, and proposed a new emotional expression method to integrate these two expressions. It is known that a human has involuntary facial muscles around the eyes, and voluntary facial muscles around the mouth. Thus, it is considered that facial muscles around the eyes express the affective expressions, while facial muscles around the mouth express the social expressions. In an experiment involving a human-robot conversation, using the proposed method, the results showed a sense of human likeness and sociality. Furthermore, the intimacy evaluation results showed that the social expressions work effectively when the intimacy does not require high social bonding such as the desire for friendship. However, the affective expressions are necessary for evaluating intimacy that requires higher social bonding, such as wanting to live with someone.

DOI： 10.1145/3125739.3125742

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Emotional or Social?: How to Enhance Human-Robot Social Bonding Reviewed

Naoki Koyama, Kazuaki Tanaka, Kohei Ogawa, Hiroshi Ishiguro

    page： 203 - 211   2017.10

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アンドロイドルU：社会的に大きな存在感の獲得に向けたニコニコ生放送における対話アンドロイドの実現への取り組み

窪田智徳, 小川浩平, 石黒浩

人工知能学会全国大会論文集   Vol. 2017 ( 0 ) page： 2N2 - 3   2017.5

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Language：Japanese   Publishing type：Research paper (other academic)   Publisher：一般社団法人 人工知能学会  

<p>本研究では、株式会社ドワンゴが提供するニコニコ生放送サービス上で、人と雑談対話エンジンが協調してアンドロイドを操作し、雑談対話コーパスを収集しながら雑談対話エンジンの漸進的な自律性の獲得を目指すシステムを提案する。ニコニコ生放送では配信された映像を不特定多数のユーザが視聴するため、効率的な対話コーパス収集が可能である。本稿では上記手法を実装・運用し、雑談対話エンジンの一定の自律性の獲得を確認した。</p>

DOI： 10.11517/pjsai.JSAI2017.0_2N23

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Theatrical approach: Designing human-like behaviour in humanoid robots Reviewed

Shogo Nishiguchi, Kohei Ogawa, Yuichiro Yoshikawa, Takenobu Chikaraishi, Oriza Hirata, Hiroshi Ishiguro

ROBOTICS AND AUTONOMOUS SYSTEMS   Vol. 89   page： 158 - 166   2017.3

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：ELSEVIER SCIENCE BV  

A key challenge in designing humanoid robots is producing natural and human-like behaviour. This study addressed this challenge by developing an instructive interface to design natural and human-like behaviour in a humanoid robot that will be helpful not only for professional robot motion designers but also for nonprofessionals. A staging method called contemporary colloquial theatre theory has been developed in the field of theatre to reproduce the natural behaviour of humans. Based on the theory, to design robot behaviour, we extracted implicit knowledge from a director's instructions given to a robot actor in a robot theatre project, where the robot functions as an actor and interacts with human actors. This paper shows the validity of applying this knowledge extraction method by means of a public stage play entitled Night On The Milky Way Train and two short plays created for the purpose of carrying out an analysis. Our analysis produced important rules for designing the behaviour of humanoid robots. The rules were extracted in forms suited to the instructive function of the interface. In this paper, we report the results of a subjective experiment conducted to verify the effectiveness of this function. Our experimental results suggest that the rules derived are effective in improving robot behaviour. (C) 2016 Elsevier B.V. All rights reserved.

DOI： 10.1016/j.robot.2016.11.017

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ロボットのNon-Duchenne Smileによる人との社会的結合の強化 Reviewed

小山 直毅, 田中 一晶, 小川 浩平, 石黒 浩

インタラクション2017     page： 87 - 96   2017.2

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採択率: 42.9%<br />
ベストペーパー候補

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The Influence of Semi-Forced Selections on Human Preference in Conversation with an Android through a Touch Display

渡辺 美紀, 小川 浩平, 吉川 雄一郎, 石黒 浩

認知科学   Vol. 23 ( 4 ) page： 411 - 419   2016.12

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：日本認知科学会  

DOI： 10.11225/jcss.23.411

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教養としての工学 : ART＋ENGINEERING

小川 浩平, オガワ コウヘイ, Ogawa Kohei

Communication-Design 特別号   Vol. 1   page： 32-41   2016.3

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Understanding the principle of communication through a field experiment using an android Invited

Kohei Ogawa, Miki Watanabe, Hiroshi Ishiguro

Journal of Japan Institute of Electronics Packaging   Vol. 19 ( 6 ) page： 378 - 383   2016

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japan Institute of Electronics Packaging  

DOI： 10.5104/jiep.19.378

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ミナミちゃん:販売を通じたアンドロイドの実社会への応用と検証 Reviewed

渡辺美紀, 小川浩平, 石黒浩

情報 処理学会論文誌   Vol. 57 ( 4 ) page： .   2016

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アンドロイドとのタッチディスプレイを通じた対話における 半強制的な選択が人間の選好に与える影響 Reviewed

渡辺美紀, 小川浩平, 吉川雄一郎, 石黒浩

認知科学   Vol. 23 ( 4 )   2016

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DOI： 10.11225/jcss.23.411

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感情でつながる、感情でつなげるロボット対話システム Invited

小川浩平, 住岡英信, 石黒浩

人工知能   Vol. 31 ( 5 ) page： 650 - 655   2016

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Android robots as in-between beings

Kohei Ogawa, Hiroshi Ishiguro

Cognitive Science and Technology     page： 327 - 337   2016

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The Geminoid is an android robot based on an existing person and it can act as an avatar of the original person using a teleoperation system. The Telenoid is another android which is characterized by implementing a minimal design representation of a human. By this design, the Telenoid allows people to feel as if a spatially distant acquaintance is close-by. We created two artworks with the Geminoid through collaborations with artists. Firstly, we conceived the Android Theater. In Android Theatre human actors and androids shared the stage in a first play of its kind worldwide. The second work is an “Intelligent Mannequin”. Here the Geminoid was interacting with the visitors in a department store as an interactive mannequin. In this chapter, we give an overview of the Geminoid and the Telenoid, describing its appearance, teleoperation system and the concept of Android Science. We then focus on the artworks.

DOI： 10.1007/978-981-10-0321-9_16

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Future roles for android robots-survey and trial Reviewed

Tomoya Hoshikawa, Kohei Ogawa, Hiroshi Ishiguro

HAI 2015 - Proceedings of the 3rd International Conference on Human-Agent Interaction     page： 41 - 48   2015.10

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The future role of android robots is discussed. Survey results reveal that people are capable of viewing androids as companions and will accept androids operating in various roles within human society
however, people are uncomfortable with androids operating in roles in which they are able to persuade humans to do something, affect humans' minds, or supervise young children. To examine people's response to an actual android robot within human society, an android capable of operating as "lecturer" was implemented and an evaluative experiment conducted. It was found that androids can evoke feelings of attentiveness that are much stronger than those evoked by existing media. Furthermore, use of the lecturer android did not improve efficiency. It is possible that people expected the android to have human-like abilities because of its human-like appearance. However, regardless of the cause, it is clear from the experiment that it is necessary to program androids with more human-like functions if they are to fill useful roles within human society.

DOI： 10.1145/2814940.2814960

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遠隔操作ロボットを用いた外国語教育での学習者音声の特徴 Reviewed

中村静, 渡辺美紀, 吉川雄一郎, 小川浩平, 石黒浩

    page： 327 - 328   2015.9

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Can androids be a social entity in a real world?

  Vol. 59   page： .   2015.5

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選択式対話が人の想像力にもたらす影響のフィールドでの検証

渡辺 美紀, 小川 浩平, 石黒 浩, 濱口秀氏

    2015.5

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Can androids be salespeople in the real world? Reviewed

Miki Watanabe, Kohei Ogawa, Hiroshi Ishiguro

Conference on Human Factors in Computing Systems - Proceedings   Vol. 18   page： 781 - 788   2015.4

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The roles of robots in the real world have become more diverse depending on their bodily properties. In this study, we aim to determine the roles that androids, whose bodily properties resemble humans, could serve in the real world. Selling and purchasing are common human activities. Therefore, we proposed the use of an android as a salesperson with cognitive and affective strategies utilizing the advantages of online-and counter-selling methods. We conducted a field study to investigate whether androids could sell goods in a department store. As a result, our sales strategies worked well and the android could sell 43 sweaters that cost approximately 100 dollars each for 10 days. These results are important knowledge for determining how androids may serve new roles and communicate with humans in the real world.

DOI： 10.1145/2702613.2702967

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Relieving Mental Stress of Speakers using a Tele-Operated Robot in Foreign Language Speech Education Reviewed

Shizuka Nakamura, Miki Watanabe, Yuichiro Yoshikawa, Kohei Ogawa, Hiroshi Ishiguro

16TH ANNUAL CONFERENCE OF THE INTERNATIONAL SPEECH COMMUNICATION ASSOCIATION (INTERSPEECH 2015), VOLS 1-5     page： 1835 - 1838   2015

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In an effort to relieve the mental stress experienced by speakers in foreign language speech education classes, an experiment using a tele-operated robot was conducted and its effect was evaluated. The robot was utilized in the following class environment: the teacher and classmates were not able to see the actual appearance of the speaker; however, the speaker could visually recognize the tele-operated robot speaking as its proxy, and was aware of the fact that the teacher and classmates also recognized the situation. The results of statistical analysis of subjective evaluation by the speakers to evaluate the effect on stress show that the degree of stress in speakers was lower when conversations with the teacher were conducted indirectly via the robot than doing so directly. A similar tendency is indicated by the results of subjective evaluation by the listeners in this experiment to imagine the case that they themselves are speakers. These results confirm that it is possible to relieve the mental stress experienced by speakers by utilizing a tele-operated robot.

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公共空間における情報提供メディアとしてのアンドロイド Reviewed

渡辺美紀, 小川浩平, 石黒浩

  Vol. 20 ( 1 ) page： 15 - 24   2015

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DOI： 10.18974/tvrsj.20.1_15

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The Uncanny in the Wild. Analysis of Unscripted Human-Android Interaction in the Field Reviewed

Astrid M. Rosenthal-von der Puetten, Nicole C. Kraemer, Christian Becker-Asano, Kohei Ogawa, Shuichi Nishio, Hiroshi Ishiguro

INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS   Vol. 6 ( 1 ) page： 67 - 83   2014.1

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Against the background of the uncanny valley hypothesis we investigated how people react towards an android robot in a natural environment dependent on the behavior displayed by the robot (still vs. moving) in a quasi-experimental observational field study. We present data on unscripted interactions between humans and the android robot "Geminoid HI-1" in an Austrian public cafe and subsequent interviews. Data were analyzed with regard to the participants' nonverbal behavior (e.g. attention paid to the robot, proximity). We found that participants' behavior towards the android robot as well as their interview answers were influenced by the behavior the robot displayed. In addition, we found huge inter-individual differences in the participants' behavior. Implications for the uncanny valley and research on social human-robot interactions are discussed.

DOI： 10.1007/s12369-013-0198-7

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Field study: Can androids be a social entity in the real world ? Reviewed

Miki Watanabe, Kohei Ogawa, Hiroshi Ishiguro

ACM/IEEE International Conference on Human-Robot Interaction     page： 316 - 317   2014

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In this paper, we discussed an autonomous android robot that is recognized as a social entity by observers in the real world. We conducted field experiments to investigate what kind of function the android needs in order to be recognized as a social and humanlike entity by visitors. In the field experiment, the android made conversation with multiple visitors by using several touch displays. The result showed that the visitors evaluate the android as humanlike even though this interaction differs from normal human-human interaction. Moreover, the experiment suggested that the android has a social influence - Advertisement effect on visitors.

DOI： 10.1145/2559636.2559811

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Designing Robot Behavior in Conversations based on Contemporary Colloquial Theatre Theory Reviewed

Kohei Ogawa, Takenobu Chikaraishi, Yuichiro Yoshikawa, Shogo Nishiguchi, Oriza Hirata, Hiroshi Ishiguro

2014 23RD IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (IEEE RO-MAN)     page： 168 - 173   2014

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Due to human sensitivity for humanlike objects, designing human-like behavior for a robot that interacts with humans remains a central issue in the HRI field. This issue is formidable because human-likeness is an important factor for better interaction since it can easily convey negative impressions if the design is not perfect, as in the uncanny valley phenomena. This paper addresses this issue with a novel approach that utilizes implicit know-how for performing on stage and is dedicated to represent human beings. Contemporary colloquial theatre theory (CCTT), which is a method of directing plays, is appropriate for this purpose since its reality-oriented instructions are directly applicable for improving robot behavior. In this paper, we report case studies on performing a play involving both humans and a robot. The play in our study was evaluated in public performances in Japan. We report detailed analysis of comparable short plays on human-robot interaction or human-human-robot interaction. Our analysis implies that utterance and motion timings should be tuned depending on the situation. Future work will use a motion capture system to get more precise data and more useful knowledge.

DOI： 10.1109/ROMAN.2014.6926248

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Social Android Robots for the Real World

OGAWA Kohei

Systems, control and information   Vol. 58 ( 12 ) page： 486-492   2014

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DOI： 10.11509/isciesci.58.12_486

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Presenting Android as a substitute for human

HOSHIKAWA Tomoya, OGAWA Kohei, ISHIGURO Hiroshi

Technical report of IEICE. HCS   Vol. 113 ( 283 ) page： 47-52   2013.11

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This paper suggests an android system which can give a speech as a substitute for Prof. Ishiguro. Android&#039;s behavior is implemented by playing recorded motion and voice extracted from Prof. Ishiguro. The problem here is a lack of adaptability, the android behaves samely in any situations. It is a one of most important elements to behave adaptively to the situations. This paper focuses on gaze behavior. Stochastic gaze transition model and a model generating gaze from speech are considered.

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Societal Androids Based on a Situatedness

WATANABE Miki, OGAWA Kohei, ISHIGURO Hiroshi

Technical report of IEICE. HCS   Vol. 113 ( 283 ) page： 31-36   2013.11

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In this paper, we proposed the design method for an autonomous android robot that is recognized as an intelligent and a social entity by observers in the real world. To create this kind of robot, we were focused on the situatedness where the android works. We have developed the autonomous android system which enable to interact with visitors based on the concept of situatedness. We conducted two field experiments. The result showed that the visitors evaluated the android has humanlike intelligence. Experiments&#039; results indicated that by making the intelligence definition for each specific situation and design the system based on it, the android might have potential to be recognized as a social and intelligent entity.

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Android robots as telepresence media Reviewed

Kohei Ogawa, Shuichi Nishio, Takashi Minato, Hiroshi Ishiguro

Robotics: Concepts, Methodologies, Tools, and Applications   Vol. 3   page： 1319 - 1327   2013.10

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In this chapter, the authors describe two human-like android robots, known as Geminoid and Telenoid, which they have developed. Geminoid was developed for two reasons: (1) to explore how humans react or respond the android during face-to-face communication and (2) to investigate the advantages of the android as a communication medium compared to traditional communication media, such as the telephone or the television conference system. The authors conducted two experiments: the first was targeted to an interlocutor of Geminoid, and the second was targeted to an operator of it. The results of these experiments showed that Geminoid could emulate a human's presence in a natural-conversation situation. Additionally, Geminoid could be as persuasive to the interlocutor as a human. The operators of Geminoid were also influenced by the android: during operation, they felt as if their bodies were one and the same with the Geminoid body. The latest challenge has been to develop Telenoid, an android with a more abstract appearance than Geminoid, which looks and behaves as a minimalistic human. At first glance, Telenoid resembles a human
however, its appearance can be interpreted as any sex or any age. Two field experiments were conducted with Telenoid. The results of these experiments showed that Telenoid could be an acceptable communication medium for both young and elderly people. In particular, physical interaction, such as a hug, positively affected the experience of communicating with Telenoid.

DOI： 10.4018/978-1-4666-4607-0.ch064

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Networked Robotics Engagement with People and Real Field: 7. Geminoid at Cafe in Europe

OGAWA Kohei

IPSJ Magazine   Vol. 54 ( 7 ) page： 710-714   2013.6

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PROMOTING SOCIALIZATION OF SCHOOLCHILDREN USING A TELEOPERATED ANDROID: AN INTERACTION STUDY Reviewed

Ryuji Yamazaki, Shuichi Nishio, Kohei Ogawa, Kohei Matsumura, Takashi Minato, Hiroshi Ishiguro, Tsutomu Fujinami, Masaru Nishikawa

INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS   Vol. 10 ( 1 )   2013.3

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Our research focuses on the social aspects of teleoperated androids as new media for human relationships and explores how they can contribute and encourage people to associate with others. We introduced Telenoid, a teleoperated android with a minimalistic human design, to elementary school classrooms to see how children respond to it. We found that Telenoid encourages children to work cooperatively and facilitates communication with senior citizens with dementia. Children differentiated their roles spontaneously and cooperatively participated in group work. In another class, we applied Telenoid to remote communication between schoolchildren and assisted living residents. The children felt relaxed about continuing their conversations with the elderly and positively participated in them. The results suggest that limited functionality may facilitate cooperation among participants, and varied embodiments may promote the learning process of the association with others, even those who are unfamiliar. We propose a teleoperated android as an educational tool to promote socialization.

DOI： 10.1142/S0219843613500072

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ヨーロッパのカフェにたたずむジェミノイド Invited

Kohei Ogawa

情報処理   Vol. 54 ( 7 ) page： .   2013

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Robot Embodiment, Operator Modality, and Social Interaction in Tele-Existence: A Project Outline Reviewed

Christian Becker-Asano, Severin Gustorff, Kai Oliver Arras, Kohei Ogawa, Shuichi Nishio, Hiroshi Ishiguro, Bernhard Nebel

PROCEEDINGS OF THE 8TH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION (HRI 2013)     page： 79 - +   2013

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper outlines our ongoing project, which aims to investigate the effects of robot embodiment and operator modality on an operator's task efficiency and concomitant level of copresence in remote social interaction. After a brief introduction to related work has been given, five research questions are presented. We discuss how these relate to our choice of the two robotic embodiments "DARYL" and "Geminoid F" and the two operator modalities "console interface" and "head-mounted display". Finally, we postulate that the usefulness of one operator modality over the other will depend on the type of situation an operator has to deal with. This hypothesis is currently being investigated empirically using DARYL at Freiburg University.

DOI： 10.1109/HRI.2013.6483510

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Tell Me Your Story, Robot. Introducing an Android as Fiction Character Leads to Higher Perceived Usefulness and Adoption Intention Reviewed

Martina Mara, Markus Appel, Hideaki Ogawa, Christopher Lindinger, Emiko Ogawa, Hiroshi Ishiguro, Kohei Ogawa

PROCEEDINGS OF THE 8TH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION (HRI 2013)     page： 193 - +   2013

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In a field experiment with N = 75 participants, the android telecommunication robot Telenoid was introduced in three different ways: participants either read a short story presenting the Telenoid as character, a non-narrative information leaflet about it, or they received no preliminary introduction at all before interacting with the robot. Perceived usefulness and behavioral intentions to adopt the robot were significantly higher in the story condition than in both other conditions. In line with the Technology Acceptance Model, reported usefulness additionally served as a mediator between treatment and adoption intention. This study is the first to apply findings from Narrative Persuasion to HRI and can prompt further discussion about stories as means to increase user acceptance of new robotic agents.

DOI： 10.1109/HRI.2013.6483567

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詩の朗読エージェントとしてのアンドロイドの可能性 Reviewed

小川浩平, 石黒浩

  Vol. 14 ( 1 ) page： 43 - 51   2012.1

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Body ownership transfer to teleoperated android robot Reviewed

Shuichi Nishio, Tetsuya Watanabe, Kohei Ogawa, Hiroshi Ishiguro

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   Vol. 7621   page： 398 - 407   2012

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Teleoperators of android robots occasionally feel as if the robotic bodies are extensions of their own. When others touch the teleoperated android, even without tactile feedback, some operators feel as if they themselves have been touched. In the past, a similar phenomenon named "Rubber Hand Illusion" has been studied for its reflection of a three-way interaction among vision, touch and proprioception. In this study, we examined whether a similar interaction occurs when replacing a tactile sensation with android robot teleoperation
that is, whether the interaction among vision, motion and proprioception occurs. The result showed that when the operator and the android motions are synchronized, operators feel as if their sense of body ownership is transferred to the android robot. © 2012 Springer-Verlag.

DOI： 10.1007/978-3-642-34103-8_40

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Teleoperated android as an embodied communication medium: A case study with demented elderlies in a care facility Reviewed

Ryuji Yamazaki, Shuichi Nishio, Kohei Ogawa, Hiroshi Ishigur

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication     page： 1066 - 1071   2012

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Teleoperated androids, which are robots with humanlike appearances, are being produced as new media of human relationships. We explored the potential of humanoid robots and how they affect people in the real world when they are employed to express a telecommunication presence and a sense of being there. We introduced Telenoid, a teleoperated android, to a residential care facility to see how the elderly with dementia respond to it. Our exploratory study focused on the social aspects that might facilitate communication between the elderly and Telenoid's operator. Telenoid elicited positive images and interactive reactions from the elderly with mild dementia, even from those with severe cognitive impairment. They showed strong attachment to its child-like huggable design and became willing to converse with it. Our result suggests that an affectionate bond may be formed between the elderly and the android to provide the operator with easy communication to elicit responses from senior citizens. © 2012 IEEE.

DOI： 10.1109/ROMAN.2012.6343890

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Possibilities of Androids as poetry-reciting agent Reviewed

Kohei Ogawa, Koichi Taura, Hiroshi Ishiguro

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication     page： 565 - 570   2012

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In recent years, research has increased on very human-like androids, generally investigating the following: (1) how people treat such very human-like androids and (2) whether it is possible to replace such existing communication media as telephones or TV conference systems with androids as a communication medium. We found that androids have advantages over humans in specific contexts. For example, in a collaboration theatrical project between artists and androids, audiences were impressed by the androids that read poetry. We, therefore, experimentally compared androids and humans in a poetry-reciting context by conducting an experiment to illustrate the influence of an android who recited poetry. Participants listened to poetry that was read by three poetry-reciting agents: the android, the human model on which the android was based, and a box. The experiment results showed that the enjoyment of the poetry gained the highest score under the android condition, indicating that the android has an advantage for communicating the meaning of poetry. © 2012 IEEE.

DOI： 10.1109/ROMAN.2012.6343811

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How does telenoid affect the communication between children in classroom setting? Reviewed

Ryuji Yamazaki, Shuichi Nishio, Kohei Ogawa, Hiroshi Ishiguro, Kohei Matsumura, Kensuke Koda, Tsutomu Fujinami

Conference on Human Factors in Computing Systems - Proceedings     page： 351 - 366   2012

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It needs to be investigated how humanoid robots may affect people in the real world when they are employed to express the presence, a feel of being there, in tele-communication. We brought Telenoid, a tele-operated humanoid robot, into a classroom at an elementary school to see how schoolchildren respond to it. Our study is exploratory and we focused on the social aspects that might facilitate communication between schoolchildren. We found that Telenoid affected the way children work as group. They participated in the group work more positively, became more spontaneous, and differentiated their roles. We observed that Telenoid's limited capability led them to change their attitudes so that they could work together. The result suggests that the limited functionality may facilitate cooperation among participants in classroom setting. © 2012 ACM.

DOI： 10.1145/2212776.2212814

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Effect of perspective change in body ownership transfer to teleoperated android robot Reviewed

Kohei Ogawa, Koichi Taura, Shuichi Nishio, Hiroshi Ishiguro

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication     page： 1072 - 1077   2012

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We previously investigated body ownership transfer to a teleoperated android body caused by motion synchronization between the robot and its operator. Although visual feedback is the only information provided from the robot, due to body ownership transfer, some operators feel as if they were touched when the robot's body was touched. This illusion can help operators transfer their presence to the robotic body during teleoperation. By enhancing this phenomenon, we can improve our communication interface and the quality of the interaction between operator and interlocutor. In this paper, we examined how the change in the operator's perspective affects the body ownership transfer during teleoperation. Based on past studies on the rubber hand illusion, we hypothesized that the perspective change will suppress the body owner transfer. Our results, however, showed that in any perspective condition, the participants felt the body ownership transfer. This shows that its generation process may differ in the body ownership transfer for teleoperated androids and the rubber hand illusion. © 2012 IEEE.

DOI： 10.1109/ROMAN.2012.6343891

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Do robot appearance and speech affect people's attitude? Evaluation through the Ultimatum Game Reviewed

Shuichi Nishio, Kohei Ogawa, Yasuhiro Kanakogi, Shoji Itakura, Hiroshi Ishiguro

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication     page： 809 - 814   2012

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In this study, we examine the factors with which robots are recognized as social beings. Participants joined sessions of the Ultimatum Game, a procedure commonly used for examining attitudes toward others in the fields of economics and social psychology. Several agents differing in their appearances are tested with speech stimuli that are expected to induce a mentalizing effect toward the agents. As a result, we found that while appearance itself did not show significant difference in the attitudes, the mentalizing stimuli affected the attitudes in different ways depending on robots' appearances. This results showed that such elements as simple conversation with the agents and their appearance are important factors so that robots are treated more humanlike and as social beings. © 2012 IEEE.

DOI： 10.1109/ROMAN.2012.6343851

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Development of Cellphone-type Tele-operated Android Reviewed

Takashi Minato, Shuichi Nishio, Kohei Ogawa, Hiroshi Ishiguro

Asia Pacific Conference on Computer Human Interaction (APCHI 2012)     page： 665 - 666   2012

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Android Robots as Tele-presence Media Invited Reviewed

Kohei Ogawa, Shuichi Nishio, Takashi Minato, Hiroshi Ishiguro

Biomedical Engineering and Cognitive Neuroscience for Healthcare: Interdisciplinary Applications     page： 54 - 63   2012

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Exploring the natural reaction of young and aged person with Telenoid in a real world Reviewed

Kohei Ogawa, Shuichi Nishio, Kensuke Koda, Giuseppe Balistreri, Tetsuya Watanabe, Hiroshi Ishiguro

Journal of Advanced Computational Intelligence and Intelligent Informatics   Vol. 15 ( 5 ) page： 592 - 597   2011

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This paper describes two field tests conducted with shopping mall visitors and with aged persons defined as in their 70s to 90s. For both of the field tests, we used an android we developed called Telenoid R1 or just Telenoid. In the following field tests we interviewed participants about their impressions of the Telenoid. The results of the shopping mall showed that almost half of the interviewees felt negative toward Telenoid until they hugged it, after which opinions became positive. Results of the other test showed that the majority of aged persons reported a positive opinion and, interestingly, all aged persons who interacted with Telenoid gave it a hug without any suggestion to do so. This suggests that older persons find Telenoid to be acceptable medium for the elderly. Younger persons may also find Telenoid acceptable, seeing that visitors developed positive feelings toward the robot after giving it a hug. These results should prove valuable in our future work with androids.

DOI： 10.20965/jaciii.2011.p0592

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Telenoid: Tele-presence android for communication Reviewed

Kohei Ogawa, Shuichi Nishio, Kensuke Koda, Koichi Taura, Takashi Minato, Carlos Toshinori Ishii

ACM SIGGRAPH 2011 Emerging Technologies, SIGGRAPH'11     2011

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In this research, a new system of telecommunication called "Telenoid" is presented which focuses on the idea of transferring human's "presence". Telenoid was developed to appear and behave as a minimal design of human features. (Fig. 2(A)) A minimal human conveys the impression of human existence at first glance, but it doesn't suggest anything about personal features such as being male or female, old or young. Previously an android with more realistic features called Geminoid was proposed. However, because of its unique appearance, which is the copy of a model, it is too difficult to imagine other people's presence through Geminoid while they are operating it. On the other hand, Telenoid is designed as it holds an anonymous identity, which allows people to communicate with their acquaintances far away regardless of their gender and age. We expect that the Telenoid can be used as a medium that transfers human's presence by its minimal feature design.

DOI： 10.1145/2048259.2048274

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遠隔操作によるアンドロイドへの身体感覚の転移 Reviewed

渡辺哲矢, 西尾修一, 小川浩平, 石黒浩

電子情報 通信学会論文誌 D   Vol. J94-D ( 1 ) page： 86 - 93   2011

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The Application of a Teleoperated Robot to the Welfare Education in an Elementary School

  Vol. 25   page： 1-4   2011

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Cognitive effects to interactions by relationships between humans and agents

Tetsuo Ono, Kohei Ogawa

WMSCI 2010 - The 14th World Multi-Conference on Systemics, Cybernetics and Informatics, Proceedings   Vol. 1   page： 18 - 23   2010

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In this research our purpose is to realize a natural interaction between humans and artifacts by an ITACO system. The ITACO system is able to construct a relationship between humans and artifacts by a migratable agent. The agent can migrate to various artifacts within an environment to construct a relationship with humans. We conducted the two experiments to confirm effects for human by a relationship that was constructed between humans and artifacts. The experimental results show that a relationship gave some influences to human's behavior and cognitive abilities. The results, moreover, show that the ITACO system and the migratable agent is an effective method to realize a natural interaction between humans and artifacts.

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Effects to the condition for eye contact by differences of appearance and movement

YAMAMORI Takayoshi, OGAWA Kohei, NISHIO Shuichi, ISHIGURO Hiroshi

IEICE technical report   Vol. 108 ( 487 ) page： 13-18   2009.3

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近年,見かけが人間に酷似したロボット,アンドロイドの研究がおこなわれている.一方で,視線,とりわけ相手と目を合わせるという動作(アイコンタクト)は,我々の社会生活にとって重要な役割を果たしている.近年の研究から,ロボットや対話メディアとのとのコミュニケーションにおいても視線の重要性が報告されており,目を合わせる機能の必要性が増えつつある.しかし,視線知覚そのものに関する実験的な研究はそれほど多くはないため,人と目が合うための条件や,条件に影響を与える要因が明らかではない.そこで,人と目を合わせる機能が最も必要とされるアンドロイドや他の対話メディアを用いて,人と目が合うための条件を検証する実験をおこなった.実験により,人と目が合うための条件に影響を与える要因を特定する.人と目が合うための条件に影響を与える要因として,目の形状や対象の見た目,視線の動き方が影響することが明らかになった.

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Body image extension induced by synchronization with teleoperated android robot

WATANABE Tetsuya, OGAWA Kohei, NISHIO Shuichi, ISHIGURO Hiroshi

IEICE technical report   Vol. 108 ( 487 ) page： 19-24   2009.3

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It is known that teleoperators of android robots occasionally experience bodily image extension. Even though only visual feedback is provided, when others touch at the robotic body, the operator feels as if s/he had been touched. A similar phenomenon named &quot;Rubber Hand Illusion&quot; is known which is said to reflect a three-way interaction among vision, touch and proprioception. In this research, we examined whether similar interaction occurs when replacing tactile sensation with synchronization of operating an android robot. The result showed that as the degree of synchronization raise, the participants began feeling the robotic body as part of their own body.

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Can An Android Persuade You? Reviewed

Kohei Ogawa, Christoph Bartneck, Daisuke Sakamoto, Takayuki Kanda, Tetsuo Ono, Hiroshi Ishiguro

RO-MAN 2009: THE 18TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1 AND 2     page： 9 - +   2009

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The first robotic copies of real humans have become available. They enable their users to be physically present in multiple locations at the same time. This study investigates what influence the embodiment of an agent has on its persuasiveness and its perceived personality. Is a robotic copy as persuasive as its human counterpart? Does it have the same personality? We performed an experiment in which the embodiment of the agent was the independent variable and the persuasiveness and perceived personality were the dependent measurement. The persuasive agent advertised a Bluetooth headset. The results show that an android is found to be as persuasive as a real human or a video recording of a real human. The personality of the participant had a considerable influence on the measurements. Participants that were more open to new experiences rated the persuasive agent lower on agreeableness and extroversion. They were also more willing to spend money on the advertised product.

DOI： 10.1109/ROMAN.2009.5326352

Web of Science

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Ubiquitous Mind and Interaction Design between Human and Robot

Human interface   Vol. 10 ( 2 ) page： 115-118   2008.5

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ITACO: Constructing an Emotional Relationship between Human and Interactive System

OGAWA KOHEI, ONO TETSUO

IPSJ SIG Notes. ICS   Vol. 2008 ( 5 ) page： 9-16   2008.1

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In this paper, we describe the ITACO system that is able to built an emotional relationship between human and interactive system by migratable agent. The agent in an ITACO system is able to migrate into interactive system within an environment. We carried out the two psychological experiments to verify whether an ITACO system is able to built an emotional relationship between human and interactive system such as robot and table lamp. As the results of experiments, we could show that emotional relationship gave an influence to human&#039;s behavior and cognitive abilities.

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Relational Interaction Design: Toward a New Paradigm of Interaction based on Relationship

ONO Tetsuo, SAKAMOTO Daisuke, OGAWA Kohei, KOMAGOME Daisuke

IPSJ SIG Notes. ICS   Vol. 2008 ( 5 ) page： 1-7   2008.1

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In this paper, we discuss a methodology of interaction design investigating factors regarding relation between humans and artifacts. Concretely, we introduce the results of our researches, i.e., ITACO system using an agent migration mechanism, Embodied Communication emerging from cooperative gesture, Sociality of Robots based on the balance theory, and RobotMeme applied mutual adaptation between human and robot. We will bring the problems of interaction design through this survey of our researches into relief.

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ITACO: Constructing an Emotional Relationship between Human and Robot Reviewed

Kohei Ogawa, Tetsuo Ono

2008 17TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1 AND 2     page： 35 - 40   2008

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this paper we describe an ITACO system that is able to construct an emotional relationship between humans and interactive systems by a migratable agent. The agent in the ITACO system can migrate between interactive systems within an environment. We conducted psychological experiments to verify whether the ITACO system can construct an emotional relationship between humans and interactive systems such as a robot and a table lamp. The experimental results show that emotional relationships were constructed between humans and interactive systems. Thus emotional relationships gave an influence to human's behavior and cognitive abilities.

DOI： 10.1109/ROMAN.2008.4600640

Web of Science

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ITACO: Effects to Interactions by Relationships between Humans and Artifacts Reviewed

Kohei Ogawa, Tetsuo Ono

INTELLIGENT VIRTUAL AGENTS, PROCEEDINGS   Vol. 5208   page： 296 - 307   2008

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：SPRINGER-VERLAG BERLIN  

Our purpose in this paper is realizing a natural interaction between humans and artifacts by an ITACO system. The ITACO System is able to construct a relationship between humans and artifacts by a migratable agent. The agent in the ITACO system can migrate to various artifacts within an environment to construct a relationship with humans. We conducted the two experiments to confirm effects for human by a relationship that was constructed between humans and artifacts. The experimental results showed that a relationship gave some influences to human's behaviors and cognitive abilities. The results also showed that the ITACO system and the migratable agent were an effective method to realize a natural interaction between them.

DOI： 10.1007/978-3-540-85483-8_31

Web of Science

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姿が見えないエージェントとのインタラクション

板垣 祐作, 小川 浩平, 小野 哲雄

人工知能学会全国大会論文集   Vol. 8 ( 0 ) page： 68-68   2008

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本研究の目的は我々が提案しているITACOシステムを用いて、見た目を変化させるエージェントを人間がどのように認知するかに関して検証することである。特に本稿では、エージェントの姿が見えない場合、人間との対話にどのような影響があるかを検証した。

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Agent's existence expressed in sound modality and social identity

  Vol. 22   page： 1-4   2008

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ITACO: メディア間を移動可能なエージェントによる遍在知の実現 Reviewed

小川浩平, 小野哲雄

ヒューマンイ ンターフェース学会論文誌   Vol. 8   page： 373 - 380   2006

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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UbiquitousCognition:MobileEnvironmentAchievedbyMigratableAgent Reviewed

KoheiOgawa,TetsuoOno

International Conference on Human Computer InteracVtion with Mobile Devices and Services     page： 337 - 338   2005

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Ubiquitous cognition: Mobile environment achieved by migratable agent

Kohei Ogawa, Tetsuo Ono

ACM International Conference Proceeding Series   Vol. 111   page： 337 - 338   2005

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We propose a concept of Ubiquitous Cognition and introduce an integrated agent for communication (ITACO) system based on the concept. To realize our proposed concept, the ITACO system tries to appropriately support a user using a migratable agent which is context-sensitive and gives continuous assistance. The key factor in this system is the construction of a relationship between the user and the agent, and to carry on this relationship between the user and the object that the agent has migrated to. Psychological experiments were carried out to verify this succession of the relationship between media. The results of the experiments showed that the subjects' attachment to the media as well as the relationship was succeeded through the media by the agent migration.

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