掲載種別：研究論文（学術雑誌）   出版者・発行元：International Journal of Social Robotics  

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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その他リンク： https://link.springer.com/article/10.1007/s12369-022-00907-9/fulltext.html

掲載種別：研究論文（学術雑誌）   出版者・発行元：Scientific Reports  

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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その他リンク： https://www.nature.com/articles/s41598-022-13829-3

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Robotics  

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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記述言語：日本語   出版者・発行元：一般社団法人 人工知能学会  

<p>複数地点に設置された半自律型対話ロボットを同時に遠隔操作する場合、異なるロボットへの操作切り替え時に、オペレータは切り替え先の文脈情報を迅速に理解する必要がある。そのため、状況に合わせた適切な要約表示方法を明らかにすることで、ユーザーに対して複数対話ロボットを通じた、より適切な対話サービスを提供できる可能性がある。そこで、本研究では、さまざまな会話状況に適した要約方法を提案し、一般的な要約よりも迅速に文脈を理解できるかどうか検証した。検証のため、まず対話ロボットの利用が想定される状況を、タスク指向性という観点から分類した。その中で、最も典型的な例として、雑談とテイクアウトの電話対応という２つの状況を設定し、それぞれの状況で提案する要約方法と一般的な要約方法を比べることで最適な要約方法を検証した。実験の結果、提案手法は会話内容をより正しく理解するのに役立った。</p>

DOI： 10.11517/pjsai.jsai2022.0_2f1gs904

CiNii Research

担当区分：最終著者,　責任著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Transactions of the Japanese Society for Artificial Intelligence  

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.

DOI： 10.1527/tjsai.36-5_ag21-f

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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：特定非営利活動法人 日本バーチャルリアリティ学会  

DOI： 10.18974/tvrsj.26.4_288

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：International Journal of Social Robotics  

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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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Applied Sciences (Switzerland)  

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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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Journal of Computer Assisted Learning  

Encouraging students to actively ask questions during lectures is a formidable challenge that can be addressed through innovative use of information technology. We developed a robotic system that allows students in a lecture to collaboratively decide questions to be asked by a humanoid robot. To verify whether the system reduces hesitation to ask questions during lectures, 62 university students were divided into two groups, and each attended two different mock lectures on the Nobel Prize in Physics. Two lectures were conducted with and without the proposed system in counterbalanced order. Results suggested that students who were usually hesitant to ask questions during lectures became less hesitant to ask questions face-to-face when they could use the proposed system. Moreover, the perceived activeness in the lectures increased when using the system. Multiple regression analyses revealed that certain student actions, particularly tweeting and showing agreement with the questions posted by others, were correlated with an increase in perceived activeness.

DOI： 10.1111/jcal.12511

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その他リンク： https://onlinelibrary.wiley.com/doi/full-xml/10.1111/jcal.12511

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：IEICE Transactions on Information and Systems  

SUMMARY 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.

DOI： 10.1587/transinf.2020edp7068

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担当区分：最終著者   記述言語：日本語   掲載種別：論文集(書籍)内論文   出版者・発行元：Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)  

To design a dialogue well and easily implement it into an autonomous dialogue system, a dialogue with simple components in which interaction with the partners is smoothly achieved is required. In designing interactions to use in an autonomous dialogue system, we consider that there are typical dialogue structures that convey agency and facilitate the dialogue. In this paper, we focused on surveying such dialogue structures and defined this structure as the “Standard Dialogue Structure” for human-agent dialogue. It 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 to build consensus before moving to the next Topic, and the “Scene” that puts together each component. Using dialogue scenarios created based on the health checklist for elderly people, we confirmed that the Standard Dialogue Structure can be used in question-and-answer dialogues led by the agent. Furthermore, we investigated the frequent patterns of dialogue in the Topic by using the utterances in the Turns which were labeled by a four-quadrant impression. The results indicated that these frequent patterns could be an effective pattern for facilitating dialogue. Therefore, we investigate the possibility of expressing agency and promoting dialogue using these frequent patterns in the autonomous dialogue systems. In conclusion, we have shown that the Standard Dialogue Structure is possible to easily implement dialogues that effectively promote interaction, even for a novice in dialogue design.

DOI： 10.1007/978-3-030-77015-0_25

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記述言語：日本語   出版者・発行元：一般社団法人 日本ロボット学会  

<p></p>

DOI： 10.7210/jrsj.39.39

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担当区分：最終著者,　責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：ヒューマンインタフェース学会  

DOI： 10.11184/his.22.4_369

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掲載種別：研究論文（学術雑誌）   出版者・発行元：IEEE International Conference on Intelligent Robots and Systems  

DOI： 10.1109/IROS45743.2020.9341537

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Informa UK Limited  

DOI： 10.1080/01691864.2020.1769724

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：ACM  

DOI： 10.1145/3334480.3375212

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担当区分：最終著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）  

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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掲載種別：研究論文（学術雑誌）  

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1145/3371382.3378289

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Springer Science and Business Media LLC  

DOI： 10.1007/s42452-020-2192-7

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その他リンク： http://link.springer.com/article/10.1007/s42452-020-2192-7/fulltext.html

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：ヒューマンインタフェース学会  

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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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 人工知能学会  

<p>エージェントとの対話を通じた情報やサービス提供の需要が高まっている。自然言語やジェスチャなどの人が対話に用いる方法を通じた対話をメディアが持つことは、一方的な情報提供では難しい説得や満足度といった要素のパフォーマンスの向上を期待することができるためである。一方、実世界において、対話システムを堅牢に運用することは、音声認識精度、対話破綻検出の難しさなどから、実運用レベルには達しておらず、新たな技術の開発が必要である。そこで本稿では、エージェントを用いた対話誘導による緩やかな意思決定を通じて、実世界において堅牢に対話を継続し、対話の満足度や対話感の向上を目指す研究について述べる。具体的には呈示された複数の選択肢から一つを選択することで対話を行う、選択式対話システムを通じたロボットとの対話システムを用いたデパートでの販売実験において、人の販売員と同等の売り上げを示すことができた例について述べる。また、自律エージェントの身体を操作することで、エージェントの意図を自分の意図として取り込むこむ現象について紹介し、その知見をインターネットライブサービス(ニコニコ生放送)と統合する試みについて述べる。</p>

DOI： 10.11517/pjsai.jsai2020.0_3j5os9b01

CiNii Research

記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 人工知能学会  

<p>近年の技術の進展により，ニュースといった客観的な情報やおすすめといった主観的な情報など多様な種類の情報が，文字や写真，動画，ロボットなど様々な方法で伝達されている．そのなかで，情報を対話により伝達することで，単に情報を伝達するよりも受け手にとって記憶に残りやすいという知見が明らかになっている．そのため，既存の様々な情報を分解し，対話形式に再構成することで，より効率的な情報伝達が可能であると考えた． 不完全な知識を持つ2つのエージェントを用い，互いの知識をすり合わせ，互いが持つ知識を理解しようとする試みを会話として表現することで，情報を対話的に再構成する．2つの知識構造は，1つの完全な知識構造をあえて不完全な2つに分割したものとし，エージェントは，互いの知識をすり合わせることで各々の知識構造を完全なものに近づけることを目指す．もともとの完全な知識構造は，属性を伴った構造にし，APIを用いてフォームフィリングする．また，具体的な会話は文を穴埋め構造にし，属性をもとに単語を埋める方法で実現している． 本稿では情報の対話的再構成を実現したシステムについて用いた手法や技術などを詳細に説明する．</p>

DOI： 10.11517/pjsai.jsai2020.0_2p4gs1105

CiNii Research

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：ACM  

DOI： 10.1145/3369457.3370913

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1093/ptep/ptz106

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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：日本知能情報ファジィ学会  

<p>コミュニケーションを円滑に行う上で，相手に対する事前知識や信念を互い有し，それを振舞いや発言にトップダウンに利用することは重要である．その一方で，多くの人間とロボットのコミュニケーションにおいては，ロボットに関する事前知識や信念を人間側が持っていないことが多い．本論文では，事前知識や信念が人間とロボットのコミュニケーションに及ぼす影響を調べるために，著名な文豪である夏目漱石のアンドロイドを用いて，被験者が"夏目漱石"や"ロボット"，"人工知能"に対して有している事前知識や信念がどのように"漱石アンドロイドとのコミュニケーション"に対する印象に影響を与えるのかを調べた．その結果，"夏目漱石"に対する事前知識は緩く漱石アンドロイドとのコミュニケーションにおけるリアリティと関連する一方，それ以上に"人工知能"に対する畏怖の念が強く漱石アンドロイドのリアリティと関連していることが分かった．</p>

DOI： 10.3156/jsoft.31.5_852

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1080/01691864.2019.1676823

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.3390/app9173442

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.3390/fi11070143

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記述言語：日本語   掲載種別：研究論文（その他学術会議資料等）  

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1080/01691864.2019.1588164

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記述言語：英語   掲載種別：研究論文（その他学術会議資料等）  

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記述言語：英語   掲載種別：研究論文（その他学術会議資料等）  

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：ACM  

DOI： 10.1145/3284432.3284448

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1111/jcal.12325

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

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記述言語：日本語   掲載種別：研究論文（その他学術会議資料等）  

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記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Singapore  

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

Scopus

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記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Singapore  

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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記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Singapore  

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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記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Singapore  

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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記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Singapore  

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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記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Singapore  

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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記述言語：英語   掲載種別：研究論文（学術雑誌）  

© 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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記述言語：日本語   掲載種別：研究論文（学術雑誌）  

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記述言語：日本語   掲載種別：研究論文（研究会，シンポジウム資料等）  

採択率: 44.4%

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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 人工知能学会  

<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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記述言語：英語   掲載種別：研究論文（その他学術会議資料等）  

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Japan Society of Mechanical Engineers  

DOI： 10.1299/jsmermd.2018.2a1-c14

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：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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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.3390/fi9040075

Scopus

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：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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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

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記述言語：日本語   掲載種別：研究論文（その他学術会議資料等）   出版者・発行元：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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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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

Web of Science

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記述言語：日本語   掲載種別：研究論文（研究会，シンポジウム資料等）  

採択率: 42.9%<br />
ベストペーパー候補

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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：日本認知科学会  

DOI： 10.11225/jcss.23.411

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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記述言語：日本語   掲載種別：研究論文（学術雑誌）  

DOI： 10.5104/jiep.19.378

Scopus

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記述言語：日本語   掲載種別：研究論文（学術雑誌）  

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.11225/jcss.23.411

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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：人工知能学会 ; 2014-  

CiNii Books

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記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer International Publishing  

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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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Association for Computing Machinery, Inc  

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

Scopus

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記述言語：日本語   掲載種別：研究論文（その他学術会議資料等）  

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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記述言語：日本語   掲載種別：研究論文（その他学術会議資料等）  

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Association for Computing Machinery  

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

Scopus

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：ISCA-INT SPEECH COMMUNICATION ASSOC  

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.

Web of Science

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記述言語：日本語   掲載種別：研究論文（学術雑誌）  

DOI： 10.18974/tvrsj.20.1_15

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：SPRINGER  

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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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.11509/isciesci.58.12_486

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE Computer Society  

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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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

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

Web of Science

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

本稿では,人間の代役として講演を行うアンドロイド(人間酷似型ロボット)システムの開発について述べる.開発したシステムでは,アンドロイドは,事前に記録した講演時の人間の音声・動きの通りに振る舞う.しかし,ここでの問題は適応性の欠如,つまりどんな状況であっても同じ振る舞いをする事であった.そこで,状況に合わせて適応的に振る舞う事は人間らしさの重要な要素であると考え,まずは適応的な目線の振る舞いの実現に向けて研究に取り組んだ.ここでは人間の目線について考察・分析し,目線の確率遷移モデルと発話内容から目線方向を生成するモデルについて検討した.

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

本論文では,人に見かけが酷似したアンドロイドロボットが,実社会の中で人に社会的な存在であると認知されるためには,アンドロイドのおかれた状況性を考慮したシステムの設計が必要であると考え,これに基づいたアンドロイド自律システムを実装した.そのシステムを用いてアンドロイドが観察者から人らしい社会的な知性を持つと認知されるかどうかを2つのフィールド実験を通じて検証した.実験を通して非言語や言語による対話を行なった結果,来傷者はアンドロイドを人らしい知的な存在であると評価したことから,状況性を考慮しシステムを設計することで,アンドロイドは社会的かつ知的な存在として人から認知される可能性が示された.

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記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：IGI Global  

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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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：WORLD SCIENTIFIC PUBL CO PTE LTD  

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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記述言語：日本語   掲載種別：研究論文（学術雑誌）  

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：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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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

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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記述言語：日本語   掲載種別：研究論文（学術雑誌）  

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

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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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

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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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

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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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

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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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

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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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1109/ROMAN.2012.6343851

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Fuji Technology Press  

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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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

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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記述言語：日本語   掲載種別：研究論文（学術雑誌）  

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

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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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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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記述言語：英語   掲載種別：研究論文（学術雑誌）  

遠隔操作型アンドロイドを操作する際,視覚フィードバックしかないのにも関わらず,ロボットの体に触られると自分の体に触られたように感じることがある.類似の現象として,視覚刺激に同期して触覚刺激を与えると身体感覚の延長が生ずる「Rubber Hand Illusion」が知られているが,視覚刺激のみでの研究事例は少ない.そこで我々はアンドロイドの遠隔操作時の同調性を制御した被験者実験を行い,実際に錯覚が生じているのか,またはどのような条件がそろえば,そのような錯覚が生じるか検証した.その結果同調感を高めると,視覚刺激のみでも身体感覚の延長が引き起こされることがわかった.

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

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

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

本論文において我々は，インタラクティブシステムの間を移動可能なエージェントを用いたITACOシステムを提案する．ITACOシステムとは，エージェントがインタラクティブシステムの間を移動することにより，人間とインタラクティブシステムとの間に，感情をともなった関係を築くことが可能なシステムである．我々は，2つの実験を通じてITACOシステムが人間とロボットやテーブルランプなどのインタラクティブシステムとの間に感情をともなった関係を築くことができるかどうかを検証した．実験の結果より，感情をともなった関係が築かれることによって人間の認知能力や行動に対して一定の影響を与えることがわかった．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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記述言語：英語   掲載種別：研究論文（学術雑誌）  

本稿の目的は，人間とシステムが関係を構築する際の要因を明らかにし，この関係に基づくインタラクションの設計論を考察することである．具体的にはまず，我々がこれまで行ってきた，人間とシステムとの間に関係を構築するための設計手法に関する研究を紹介する．それらは，エージェントが環境内にあるさまざまなメディアを移動しながら人間と関係を構築する手法（ITACOシステム），ロボットと人間が同調的な身体動作をとおして関係を構築する手法（共創対話），三者間の社会的なダイナミクスにより関係が構築される研究（ロボットの社会性），および，人間がロボットの身体動作を模倣することによって関係が連続的に他者へ伝播していくというRobotMemeに関する研究である．これらの研究事例を概観することにより，人間とシステムが関係を構築する際に重要となるいくつかの要因が明らかとなる．さらに，システムと関係を構築することが人間の認知システムに影響を与えていることが明らかとなる．この2点から，関係に基づくインタラクションの設計論について考察する．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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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：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

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：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

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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記述言語：日本語   掲載種別：研究論文（学術雑誌）  

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

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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記述言語：日本語   出版者・発行元：システム制御情報学会  

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記述言語：日本語   出版者・発行元：特定非営利活動法人 日本バーチャルリアリティ学会  

Previous research, for instance, in the museum context has demonstrated that the interactive information media used is crucial. In this paper, we argue that humanlike appearance and humanlike conversational behaviors increase the effectiveness of information transfer. We developed the autonomous system of the female-type android robot to test this assumption in a field experiment situated in a shopping mall context. Concretely, in this scenario, the android not only provided objective information such as a price or where to buy goods, but also conveyed subjective information about her preferred shops in the mall. Overall, descriptive findings showed that the customers were eager to accept the android as a humanlike interaction partner: To illustrate, participants expressed interest in engaging with it and generally appreciated the conversation with this type of information media. To confirm the positive impact of the android on customer behaviors, we even observed that the clothes the android was wearing during the field trials happened to sell out while the experiment was running. The relevance of using androids as effective media in public spaces are discussed.

DOI： 10.18974/tvrsj.20.1_15

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記述言語：日本語   出版者・発行元：システム制御情報学会  

DOI： 10.11509/isciesci.58.12_486

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記述言語：日本語   出版者・発行元：一般社団法人電子情報通信学会  

本稿では,人間の代役として講演を行うアンドロイド(人間酷似型ロボット)システムの開発について述べる.開発したシステムでは,アンドロイドは,事前に記録した講演時の人間の音声・動きの通りに振る舞う.しかし,ここでの問題は適応性の欠如,つまりどんな状況であっても同じ振る舞いをする事であった.そこで,状況に合わせて適応的に振る舞う事は人間らしさの重要な要素であると考え,まずは適応的な目線の振る舞いの実現に向けて研究に取り組んだ.ここでは人間の目線について考察・分析し,目線の確率遷移モデルと発話内容から目線方向を生成するモデルについて検討した.

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記述言語：日本語   出版者・発行元：一般社団法人電子情報通信学会  

本論文では,人に見かけが酷似したアンドロイドロボットが,実社会の中で人に社会的な存在であると認知されるためには,アンドロイドのおかれた状況性を考慮したシステムの設計が必要であると考え,これに基づいたアンドロイド自律システムを実装した.そのシステムを用いてアンドロイドが観察者から人らしい社会的な知性を持つと認知されるかどうかを2つのフィールド実験を通じて検証した.実験を通して非言語や言語による対話を行なった結果,来傷者はアンドロイドを人らしい知的な存在であると評価したことから,状況性を考慮しシステムを設計することで,アンドロイドは社会的かつ知的な存在として人から認知される可能性が示された.

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記述言語：日本語   出版者・発行元：一般社団法人情報処理学会  

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記述言語：日本語   出版者・発行元：ヒューマンインタフェース学会  

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記述言語：日本語   出版者・発行元：人工知能学会  

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記述言語：日本語   出版者・発行元：一般社団法人電子情報通信学会  

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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記述言語：日本語   出版者・発行元：一般社団法人電子情報通信学会  

遠隔操作型アンドロイドを操作する際,視覚フィードバックしかないのにも関わらず,ロボットの体に触られると自分の体に触られたように感じることがある.類似の現象として,視覚刺激に同期して触覚刺激を与えると身体感覚の延長が生ずる「Rubber Hand Illusion」が知られているが,視覚刺激のみでの研究事例は少ない.そこで我々はアンドロイドの遠隔操作時の同調性を制御した被験者実験を行い,実際に錯覚が生じているのか,またはどのような条件がそろえば,そのような錯覚が生じるか検証した.その結果同調感を高めると,視覚刺激のみでも身体感覚の延長が引き起こされることがわかった.

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記述言語：日本語   出版者・発行元：ヒュ-マンインタフェ-ス学会  

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記述言語：日本語   出版者・発行元：一般社団法人情報処理学会  

本論文において我々は，インタラクティブシステムの間を移動可能なエージェントを用いたITACOシステムを提案する．ITACOシステムとは，エージェントがインタラクティブシステムの間を移動することにより，人間とインタラクティブシステムとの間に，感情をともなった関係を築くことが可能なシステムである．我々は，2つの実験を通じてITACOシステムが人間とロボットやテーブルランプなどのインタラクティブシステムとの間に感情をともなった関係を築くことができるかどうかを検証した．実験の結果より，感情をともなった関係が築かれることによって人間の認知能力や行動に対して一定の影響を与えることがわかった．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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記述言語：日本語   出版者・発行元：一般社団法人情報処理学会  

本稿の目的は，人間とシステムが関係を構築する際の要因を明らかにし，この関係に基づくインタラクションの設計論を考察することである．具体的にはまず，我々がこれまで行ってきた，人間とシステムとの間に関係を構築するための設計手法に関する研究を紹介する．それらは，エージェントが環境内にあるさまざまなメディアを移動しながら人間と関係を構築する手法（ITACOシステム），ロボットと人間が同調的な身体動作をとおして関係を構築する手法（共創対話），三者間の社会的なダイナミクスにより関係が構築される研究（ロボットの社会性），および，人間がロボットの身体動作を模倣することによって関係が連続的に他者へ伝播していくというRobotMemeに関する研究である．これらの研究事例を概観することにより，人間とシステムが関係を構築する際に重要となるいくつかの要因が明らかとなる．さらに，システムと関係を構築することが人間の認知システムに影響を与えていることが明らかとなる．この2点から，関係に基づくインタラクションの設計論について考察する．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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記述言語：日本語   出版者・発行元：社団法人 人工知能学会  

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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記述言語：日本語   出版者・発行元：人工知能学会  

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記述言語：日本語   出版者・発行元：人工知能学会  

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記述言語：日本語   出版者・発行元：社団法人 人工知能学会  

２者対話における身体動作に含まれる両者の関係性を考慮した，新しいインタラクティブシステムのデザイン手法を提案する．本稿では，そのための基礎実験を実施し，その妥当性を検証した．

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記述言語：日本語   出版者・発行元：社団法人 人工知能学会  

我々は人と物との間の新しいインタラクションを実現するための概念である遍在知を提案する．さらに，この概念に基づき，メディア間を移動しながら，ユーザに対しコンテクストに応じた適切な支援を行うエージェントシステムについて述べる．

DOI： 10.11517/pjsai.JSAI05.0.218.0

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