< Outcomes in sub Project 1 "Development of New Human-Robot Communication Technologies">

1. Mental Interface for the Kansei Communication with Robot

Kansei communication has been studied to equip this ability with a robot so that the robot can worry about human. To realize this Kansei communication indirect ECG monitoring method has been studied using capacitively coupled electrode technologies, because heart rate variability is sensitive to the user’s emotion.

1. Capacitively Coupled Electrode for Indirect Biosignal Measurement

Electrocardiogram can be measured indirectly from clothes by the capacitively coupled electrode. However this electrode has some weak points; the baseline of ECG easily saturates because of the static electricity caused by the friction of clothes and the electrode, and the ground electrode between human body and electric circuit, etc. These weak points have been improved and indirect ECG measurement is available.

2. Sleep Monitoring System for the Elderly

A sleep monitor seat sensor was developed, that can measure an ECG, a respiration curve, and body motions while the elderly sleeping wearing clothes such as pajamas. A prototype system with above-mentioned sheet sensor was completed by that an abnormal heart beat, an apnea, body motion of the elderly during sleep can be checked at the nurse station It was abnormal, and this sheet system that integrated with breath and the body movement sensor turned over in bed, and completed the senior citizen of the electrocardiogram by using the above-mentioned electrostatic capacity type electrode technology for the electrocardiogram measurement by the prototype of the system that was able to confirm getting up at the nurse station the check on no breath. Two patents applications were made through this development.

3. ECG Measurement of A Driver

ECG measurement system of a driver has been developed using capacitively coupled electrode technology to detect abnormal driving situations like drowsy driving, heart attack, etc. while driving. In this system the signal electrode was set on a seat under driver’s buttock and the metal part of the handle was used as the ground electrode, and ECG was led by a single-end amplifier. Three patents applications were made through this development.

2. Behavior Assessment System Based on Sensors Measuring Behavioral Intention to Create A Secure Relationship with A Robot

Under the circumstances where a home robot and people live together, it is important for the accident prevention that the robot knows user’s intention of their behavior or motion. We are studying how to estimate the intention of human behavior.

1. Estimation System of Human Visual Region of Interest

A wearable head motion monitoring system has been developed. This system consists of three wire displacement sensors set between subject’s head and shoulder, and the anterior/posterior/lateral bending and rotation of head can be calculated from these three displacement data. In experiments subject’s head motion was monitored while the subject was observing a small target with a big frame displayed randomly on a screen. Results showed that head motion is controlled depending on the framework of visual task and the visual region of interest can be estimated from head motion.

2. Wearable System for the Monitoring of Physical and Physiological Signals in Daily Life

Recently electro-conductive string twisted of fine stainless steel thread was developed. A fabric knitted of this electro-conductive string was expected to be a biosignal electrode and a tension sensor simultaneously. Experimental results showed that this new electrode could measure ECG and respiration curve simultaneously. Two patents applications were made through this development.