User-machine interface system for enhanced interaction

• US 6,714,840 B2
• Filed: 02/12/2002
• Issued: 03/30/2004
• Est. Priority Date: 08/04/1999
• Status: Expired due to Fees

• Current Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Original Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Inventors: Yoshida, Makoto, Kamiya, Tsuyoshi, Sakaue, Masaya, Arimune, Nobuyasu
• Primary Examiner(s): Cuchlinski, Jr., William A
• Assistant Examiner(s): Marc, McDieunel, Marc, McDieunel
• Application Number:
  US10/076,861
• Publication Number:
  US 20020165642A1
• Time in Patent Office: 777 Days
• Field of Search: 700/245, 700/257, 700/260, 700/258, 700/264, 700/17, 700/11, 700/56, 700/86, 382/118, 382/209, 701/23, 701/29, 318/568.1
• US Class Current: 700/245
• CPC Class Codes: B25J 13/003 by means of an audio-responsive input audible safety signals B25J19/061
• CPC Class Codes: B25J 13/084 Tactile sensors in general G01L5/16, G01L5/22
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G05B 19/00 Programme-control systems
• CPC Class Codes: G05B 2219/33051 BBC behavior based control, stand alone module, cognitive, independent agent
• CPC Class Codes: G05B 2219/33055 Holon, agent executes task and cooperates with other, distributed control
• CPC Class Codes: G05B 2219/33056 Reinforcement learning, agent acts, receives reward, emotion, action selective
• CPC Class Codes: G05B 2219/33061 Behaviour fusion, each layer can influence other by suppression or amplification
• CPC Class Codes: G05B 2219/35444 Gesture interface, controlled machine observes operator, executes commands
• CPC Class Codes: G05B 2219/39254 Behaviour controller, robot have feelings, learns behaviour
• CPC Class Codes: G05B 2219/40413 Robot has multisensors surrounding operator, to understand intention of operator
• CPC Class Codes: G05B 2219/40414 Man robot interface, exchange of information between operator and robot
• CPC Class Codes: G05B 2219/40625 Tactile sensor
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
• CPC Class Codes: G06V 40/20 Movements or behaviour, e.g. gesture recognition recognition of facial expressions G06V40/16

Abstract

A user information input structure that inputs user information, a memory structure that stores user'"'"'s bearing information as robot'"'"'s bearing pattern, and a regenerating structure that regenerates the pattern based on the information input to the user information input structure. A behavior selection and determination structure for selecting and deciding behaviors based on user information, a user information recognition structure for recognizing a user, a memory structure for storing the recognized user information, a calculating structure for comparing the recognized user information with the stored user information to calculate user recognition, and a compensating structure for compensating a selection and determination method in the behavior selection and determination structure in accordance with the calculated user recognition. An actuator for driving a robot, a detection structure for detecting user information and environment information, a feelings generation structure for generating artificial feelings for a robot based on the detecting user and environment information, and a behavior determination structure for determining behaviors by the robot based on the generated artificial feelings, wherein the behavior determination structure controls the actuator so that a resistance acted on the robot may be changed on tactile information the user has applied to the robot.

Claims

1. A user recognition growth system, comprising:

a behavior selection and determination structure for selecting and deciding behaviors based on user information;

a user information recognition structure for recognizing a user;

a memory structure for storing the recognized user information;

a calculating structure for comparing the recognized user information with the stored user information to calculate user recognition; and

a compensating structure for compensating a selection and determination of the behavior selection and determination structure in accordance with the calculated user recognition.

2. The system of claim 1, further comprising a pseudo-feelings generation structure for producing pseudo-feelings of a robot according to a feelings model for parameters.

3. The system of claim 2, wherein the user recognition is increased every time the user is recognized.

4. The system of claim 1, wherein the parameters are compensated in according with the user recognition.

5. The system of claim 4, wherein the user recognition is increased every time the user is recognized.

6. The system of claim 1, wherein the user information is at least one of user identification, temper, or instruction.

7. The system of claim 1, wherein the user recognition is increased every time the user is recognized..

8. A user recognition growth system, comprising:

a behavior selection and determination structure for selecting and deciding behaviors based on user information;

a user information recognition structure for recognizing a user;

a memory structure for storing the recognized user information;

a calculating structure for comparing the recognized user information with the stored user information to calculate user recognition; and

a compensating structure for compensating behaviors selected by the behavior selection and determination structure in accordance with the calculated user recognition.

9. The system of claim 8, further comprising a pseudo-feelings generation structure for producing pseudo-feelings of a robot according to a feelings model for parameters.

10. The system of claim 9, wherein the parameters is compensated in accordance with the user recognition and the behaviors is compensated based on the compensated parameters.

11. The system of claim 10, wherein the user recognition is increased every time the user is recognized.

12. The system of claim 8, wherein the user information is at least one of user identification, temper, or instruction.

13. The system of claim 8, wherein the user recognition is increased every time the user is recognized.