KASUMI ABE
| Artificial Intelligence eXploration Research Center | Project/Specially Appointed Assistant Professor |
Researcher Information
Field Of Study
Career
- Apr. 2024 - Present
The University of Electro-Communications, Artificial Intelligence eXploration Research Center, Part-time researcher for university or other academic organization, 特任助教 - Apr. 2024 - Present
Advanced Telecommunications Research Institute International, 深層インタラクション総合研究所 インタラクション科学研究所 エージェントインタラクションデザイン研究室, Researher Postdoc, 連携研究員 - Apr. 2024 - Present
Meijigakuin University, 情報数理学部 情報数理学科, Associate Professor, Japan - Apr. 2024 - Present
Chuo University, The Institute of Science and Engineering, Part-time researcher for university or other academic organization, 客員研究員 - Apr. 2024 - Present
Meijigakuin University, 情報数理学部情報数理学科, Associate Professor - Apr. 2024 - Apr. 2024
Chuo University, The Institute of Science and Engineering, 客員研究員 - Apr. 2024 - Apr. 2024
Advanced Telecommunications Research Institute International, 連携研究員 - Apr. 2024 - Present
Meiji Gakuin University, Faculty of Mathematical Informatics, Associate Professor - Nov. 2020 - Apr. 2024
The University of Electro-Communications, Artificial Intelligence eXploration Research Center, 特任助教 - Oct. 2020 - Present
株式会社ＣｈｉＣａＲｏ, 研究員・ポスドク, 主席研究員 - Oct. 2020 - Apr. 2024
株式会社ＣｈｉＣａＲｏ, 主席研究員 - Nov. 2020 - Apr. 2024
The University of Electro-Communications, Artificial Intelligence eXploration Research Center, Assistant Professor, 特任助教, NEDO「説明できる自律化インタラクションAIの研究開発と育児・発達支援への応用」における研究 - Dec. 2018 - Apr. 2024
Advanced Telecommunications Research Institute International, 深層インタラクション総合研究所 インタラクション科学研究所 エージェントインタラクションデザイン研究室, 客員研究員 - Apr. 2023 - Mar. 2024
Chuo University, 研究支援室, Part-time researcher for university or other academic organization, 嘱託職員（非常勤研究員） - Apr. 2023 - Mar. 2024
Chuo University, 嘱託研究員（嘱託職員） - Dec. 2018 - Mar. 2024
Advanced Telecommunications Research Institute International, 深層インタラクション総合研究所 インタラクション科学研究所 エージェントインタラクションデザイン研究室, Part-time researcher for university or other academic organization, 客員研究員 - Oct. 2020 - Nov. 2020
The University of Electro-Communications, Artificial Intelligence eXploration Research Center, 特任研究員 - Oct. 2020 - Oct. 2020
The University of Electro-Communications, Artificial Intelligence eXploration Research Center, Researher Postdoc, 特任研究員 - 01 Apr. 2017 - 30 Sep. 2020
日本学術振興会 特別研究員RPD, 電気通信大学 人工知能先端研究センター, 特別研究員 - Apr. 2017 - Sep. 2020
日本学術振興会, 受入機関：電気通信大学 人工知能先端研究センター, 日本学術振興会特別研究員, 特別研究員RPD - Jun. 2015 - Nov. 2018
Advanced Telecommunications Research Institute International, Intelligent Robotics and Communication Laboratories, Part-time researcher for university or other academic organization, 連携研究員 - Jun. 2015 - Nov. 2018
Advanced Telecommunications Research Institute International, Intelligent Robotics and Communication Laboratories, 連携研究員 - 01 Oct. 2015 - 31 Mar. 2017
日本学術振興会 特別研究員PD, 電気通信大学 知能機械工学専攻, 特別研究員 - Oct. 2015 - Mar. 2017
日本学術振興会, 受入機関：電気通信大学 知能機械工学専攻, 日本学術振興会特別研究員, 特別研究員PD - Apr. 2015 - Sep. 2015
日本学術振興会 特別研究員DC2, 受入機関：電気通信大学 知能機械工学専攻, 日本学術振興会特別研究員, 特別研究員DC2
Educational Background
Research Activity Information
Award
- Dec. 2015
NEDO Technology Commercialization Program
審査員特別賞, ChiCaRo - Dec. 2014
HAI-2013 Outstanding Research Award, 日永田智絵;阿部香澄;長井隆行;下斗米貴之;大森隆司
Japan society - Nov. 2013
Integrated Concept of Objects and Human Motions Based on Multi-
IROS 2013 Cognitive Best Paper Award Finalist, M. Fadlil;K. Ikeda;K. Abe;T. Nakamura;T. Nagai
International society
Paper
- Relationship building between caregivers and children using remote childcare support robots
Caitlin Duncan; Misato Kasuya; Katharina Menke; Kasumi Abe; Takayuki Nagai
The 10th International Symposium on Affective Science and Engineering (ISASE 2024), 09 Mar. 2024, Peer-reviwed
International conference proceedings, English - Investigation of Method of Presenting Robot Touched Information by Evaluating Brain Activity- Toward Implementation of Technology that Communicates Social Touch Information -
ABE Kasumi; KASUYA Misato; HIGUCHI Yoshiki; SUMIOKA Hidenobu; SHIOMI Masahiro; NAGAI Takayuki
Lead, Transactions of Japan Society of Kansei Engineering, Japan Society of Kansei Engineering, 22, 3, 273-279, Aug. 2023, Peer-reviwed, More robots interact remotely with people and teleoperated robots are also being used in childcare. Effective interaction cannot be achieved unless knowing how to present the touch interaction that children perform on a daily basis for the operator. Toward future goal of this research that implementation of the technology that communicates social touch information on telepresence childcare robots, this paper reports investigation how to present touched information to an operator by evaluating brain activity. As a result, texts describing the touch situation was the most acceptable presentation method with the least brain load on the operator.
Scientific journal, Japanese - Temperament estimation of toddlers from child-robot interaction with explainable artificial intelligence
Taiga Sano; Takato Horii; Kasumi Abe; Takayuki Nagai
Advanced Robotics, TAYLOR & FRANCIS LTD, 35, 17, 1068-1077, Sep. 2021, Peer-reviwed, Personality estimation is a vital ability for communicating with others. It can help robots that interact with humans to model various human behaviors with a few parameters. Numerous studies have proposed models for estimating human personality from human-robot interaction. However, a limited number of methods have focused on the personalities of toddlers, which are dominated by innate temperaments. In this study, we propose a regression model that estimates the toddler temperament from images acquired by a teleoperated childcare robot named ChiCaRo. We gather a dataset from actual interactions between toddlers and ChiCaRo, and extract features from the data to train the regression model. Moreover, an explainable Artificial Intelligence model known as Shapley additive explanations (SHAP) is employed to understand the estimation tendency of the trained model and to compare the tendency with the temperament definition. The proposed model achieved a mean squared error of 0.024 for the average of all temperament factors. The analysis of SHAP confirmed that the model could reasonably learn the tendency compared to the definition in most temperament factors and suggested the possibility of data bias under a specific temperament factor.
Scientific journal, English - Social Acceptance of Robots and Artificial Intelligence in Preschooler Childcare
Abe Kasumi; Shiomi Masahiro; Kasuya Misato; Nagai Takayuki
Lead, Journal of the Robotics Society of Japan, The Robotics Society of Japan, 39, 4, 371-374, May 2021, Peer-reviwed, This paper reports social acceptance of a childcare support system with AI/robot through web-based survey and a field trial in Japan. The participants of both the web-based survey and the field trial showed positive attitudes toward the childcare support system with AI/robot. They also preferred a collaboration style between robots and people compared to fully autonomous/teleoperated style, although they preferred both a collaboration style and a fully autonomous style between AI and people.
Scientific journal, Japanese - Support System of Language Development for Toddlers by using the Telepresence Childcare Robot
Miki Haruko; Abe Kasumi; Horii Takato; Nagai Takayuki
Journal of the Robotics Society of Japan, The Robotics Society of Japan, 39, 2, 185-188, Mar. 2021, Peer-reviwed, This paper proposed a developmental support system of toddlers' language skills by using a telepresence childcare robot. The childcare robot can attract toddlers' attention during interaction based on its actions. This ability is a significant advantage that differs from static devices (i.e., tablet). Our system and robot played language quizzes with toddlers to collect developmental information about toddlers' language skills. They made reports for a childcare worker to help their assessment in the visiting support program. Experimental results showed that our system has the potentials to evaluate toddlers' language development quantitatively and support childcare workers in the visiting program.
Scientific journal, Japanese - Explainable Temperament Estimation of Toddlers by a Childcare Robot.
Taiga Sano; Takato Horii; Kasumi Abe; Takayuki Nagai
29th IEEE International Conference on Robot and Human Interactive Communication(RO-MAN), IEEE, 159-164, Aug. 2020, Peer-reviwed
International conference proceedings, English - HSMM-SA-based Analysis of ChildcareWorker’s Interaction Strategy
Yoshiki Higuchi; Kasumi Abe; Masatoshi Nagano; Rena Kanai; Masahiro Shiomi; Takayuki Nagai; Tomoaki Nakamura
RISP International Workshop on Nonlinear Circuits, Communications and Signal Processing, Feb. 2020, Peer-reviwed
International conference proceedings, English - Estimating children’s personalities through their interaction activities with a tele-operated robot
Kasumi Abe; Takayuki Nagai; Chie Hieida; Takashi Omori; Masahiro Shiomi
Lead, Journal of Robotics and Mechatronics, 32, 1, 21-31, Feb. 2020, Peer-reviwed, © 2020, Fuji Technology Press. All rights reserved. Based on the little big-five inventory, we developed a technique to estimate children’s personalities through their interaction with a tele-operated childcare robot. For personality estimation, our approach observed not only distance-based but also face-image-based features when a robot interacted with a child at a close distance. We used only the robot’s sensors to track the child’s positions, detect its eye contact, and estimate how much it smiled. We collected data from a kindergarten, where each child individually interacted for 30 min with a robot that was controlled by the teachers. We used 29 datasets of the interaction between a child and the robot to investigate whether face-image-based features improved the performance of personality estimation. The evaluation results demonstrated that the face-image-based features significantly improved the performance of personality estimation, and the accuracy of the personality estimation of our system was 70% on average for the personality scales.
Scientific journal, English - Walking hand-in-hand helps relationship building between child and robot
Chie Hieida; Kasumi Abe; Takayuki Nagai; Takashi Omori
Journal of Robotics and Mechatronics, 32, 1, 8-20, Feb. 2020, Peer-reviwed, © 2020, Fuji Technology Press. All rights reserved. It is well known that, in human communication, physical contact, such as holding hands, has the effect of relieving stress and providing a sense of intimacy. In this study, we verified whether walking hand-in-hand has a positive effect on relationship building between children and robots. Specifically, an interaction experiment was performed in which a child and a robot play one-on-one for approximately 30 min with 37 children aged 5–6 years. The robot is teleoperated by a nursery teacher in this experiment. The children are divided into two groups: the experimental group, in which children walk hand-in-hand during their first encounter with the robot, and the control group, in which children do not have any physical contact with the robot. The change in the interaction is analyzed while taking into consideration the distance between the child and the robot, eye contact rate, and a questionnaire completed by the parents and children. The results reveal that the children in the experimental group interacted significantly with the robot. Moreover, the parents of the children in the experimental group tended to feel that their children appeared to experience intimacy with the robot. These results suggest that walking hand-in-hand has a positive effect on child-robot relationship building.
Scientific journal, English - ChiCaRo: tele-presence robot for interacting with babies and toddlers‡
Kasumi Abe; Masahiro Shiomi; Yachao Pei; Tingyi Zhang; Narumitsu Ikeda; Takayuki Nagai
Lead, Advanced Robotics, Robotics Society of Japan, 32, 4, 176-190, 16 Feb. 2018, Peer-reviwed, The progress of super-aging societies is decreasing opportunities for interaction between grandparents and grandchildren due to increased nuclear families. This paper reports a tele-presence robot named ChiCaRo, which is designed to promote interaction with babies/toddlers and encourage remote communication between grandparents and grandchildren. We experimentally investigated ChiCaRo’s social acceptance with 17 adults and 19 children in a play room environment. The adult participants evaluated ChiCaRo highly in the context of remote interaction with their children. Next, we conducted field trials in real-home environments with three nuclear families and their grandparents who operated ChiCaRo to investigate its effectiveness. After one-week field trials, the grandparents reported that ChiCaRo encouraged both interaction with their grandchildren and supplemented childcare, e.g. watching babies/toddlers instead of their parents.
Scientific journal, English - Estimation of child personality for child-robot interaction
Kasumi Abe; Yuki Hamada; Takayuki Nagai; Masahiro Shiomi; Takashi Omori
Lead, RO-MAN 2017 - 26th IEEE International Symposium on Robot and Human Interactive Communication, Institute of Electrical and Electronics Engineers Inc., 2017, 910-915, 08 Dec. 2017, Peer-reviwed, We propose a technique to estimate a child's extraversion and agreeableness for social robots that interact with children. The proposed approach observed children's behavior using only the robot's sensors, without any sensor networks in the environment. An RGBD sensor was used to track and identify children's facial expressions. Children's interactions with the robot were observed, such as their distance from the robot and the duration of their eye contact, because such information would provide clues to estimate their personality. Data were collected when a robot, tele-operated by preschool teachers, interacted with kindergarten children individually. The data from 29 children was used to successfully estimate the children's personality compared to chance rates.
International conference proceedings, English - Robust Children Behavior Tracking for Childcare Assisting Robot by Using Multiple Kinect Sensors
Bin Zhang; Tomoaki Nakamura; Rena Ushiogi; Takayuki Nagai; Kasumi Abe; Takashi Omori; Natsuki Oka; Masahide Kaneko
SOCIAL ROBOTICS, (ICSR 2016), SPRINGER-VERLAG BERLIN, 9979, 640-649, Nov. 2016, Peer-reviwed, Recently, the requirement for the high qualified childcare schools keeps increasing, but the number of qualified nursery teachers is far from enough. Developing a childcare assisting robot is highly necessary to help the works of nursery teachers. To work like a human nursery teacher, the first challenge for the robot is to understand the behaviors of the children automatically so that the robot can give adaptive reactions to the children. In this paper, we developed a robust children behavior tracking system by using multiple Kinect sensors. Each of the child is detected and recognized by integrating his/her personal features of face, color and motion. The tracking process is realized by using the Markov Chain Monte Carlo (MCMC) particle filter. The experiments are conducted in a childcare school to show the usefulness of our system.
International conference proceedings, English - ChiCaRo: Tele-presence robot for interacting with babies and toddlers
Masahiro Shiomi; Kasumi Abe; Yachao Pei; Tingyi Zhang; Narumitsu Ikeda; Takayuki Nagai
HAI 2016 - Proceedings of the 4th International Conference on Human Agent Interaction, Association for Computing Machinery, Inc, 349-351, 04 Oct. 2016, Peer-reviwed, This paper reports a tele-presence robot named ChiCaRo, which is designed for interaction with babies and toddlers. ChiCaRo can physically interact with babies and toddlers by moving around and using its small hand. We conducted a field trial at a playroom where babies and toddlers can freely play to investigate ChiCaRo's effectiveness. In the experiment adult participants interacted with their babies and toddlers by ChiCaRo and another robot. The adult participants evaluated ChiCaRo highly in the context of remote interaction with their babies and toddlers.
International conference proceedings, English - "I'm Scared": Little children reject robots
Masahiro Shiomi; Kasumi Abe; Yachao Pei; Narumitsu Ikeda; Takayuki Nagai
HAI 2016 - Proceedings of the 4th International Conference on Human Agent Interaction, Association for Computing Machinery, Inc, 245-247, 04 Oct. 2016, Peer-reviwed, Social robots are used for interacting with children. Their novelty often stimulates the interest of children and encourages such interaction as playing with them. However, some children do not interact with such robots and instead strongly reject interaction with them. Understanding such rejection behaviors of children has important design implications for social robots that are supposed to interact with children. For this purpose, we investigated what kinds of rejection behaviors appeared in different kinds of robots in a play room environment.
International conference proceedings, English - Simultaneous Children Recognition and Tracking for Childcare Assisting System by Using Kinect Sensors
Bin Zhang; Tomoaki Nakamura; Rena Ushiogi; Takayuki Nagai; Kasumi Abe; Takashi Omori; Natsuki Oka; Masahide Kaneko
Journal of Signal and Information Processing, Scientific Research Publishing, Inc., 7, 3, 148-159, Aug. 2016, Peer-reviwed
Scientific journal, English - Modeling of Honest Signals for Human Robot Interaction
Muhammad Attamimi; Yusuke Katakami; Kasumi Abe; Takayuki Nagai; Tomoaki Nakamura
ELEVENTH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN ROBOT INTERACTION (HRI'16), ASSOC COMPUTING MACHINERY, 415-416, Mar. 2016, Peer-reviwed, Recent studies have shown that human beings unconsciously use signals that represent their thoughts and/or intentions when communicating with each other. These signals are known as "honest signals." This study involves the use of a sociometer to capture multimodal data resulting from the interaction between humans. These data are then used to model the interaction using a multimodal hierarchical Dirichlet process hidden Markov model, which is then implemented in the robot. The model enables robots to generate "honest signals" and to interact in a natural manner.
International conference proceedings, English - Telepresence Childcare Robot for Playing with Children from a Remote Location
Abe Kasumi; Pei Yachao; Tingyi Zhang; Hieida Chie; Nagai Takayuki; Shiomi Masahiro
Lead, The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM, The Japan Society of Mechanical Engineers, 2015, 0, 138-139, Dec. 2015, Peer-reviwed, In this study, we develop a prototype telepresence childcare robot, which will aid childcare by facilitating interactions between a young child and a remote person. Because the robot interacts with a young child, safety measures and an ability to maintain the attention of a child are important considerations. We design a robot with a focus on safety and physical play, and propose the use of a semi-autonomous child tracking method. Finally, we perform a preliminary test, which indicates that this robot can maintain a child's attention for longer than a general video-chat system.
International conference proceedings, English - Modeling of Stress/Interest State Controlling in Robot-Child Play Situation
Takashi Omori; Kasumi Abe; Takayuki Nagai
6TH ANNUAL INTERNATIONAL CONFERENCE ON BIOLOGICALLY INSPIRED COGNITIVE ARCHITECTURES (BICA 2015), ELSEVIER SCIENCE BV, 71, 119-124, Nov. 2015, Peer-reviwed, When we interact with other person, we need a knowledge on other's mind and consult it to decide action of our self. We call the knowledge Model of Other, MoO. To realize a cognitive architecture to interact with human, MoO must be embedded and used in a decision making process. But to design MoO, we must know how human interact in real world in MoO view because we aim a practical human interaction task. So, in this paper, we conducted a child-robot play experiment and analyzed human behavior. From the result, we construct a model of emotion level mental status leading that may be a possible leading concept of human-agent interaction design.
International conference proceedings, English - Model of Strategic Behavior for Interaction that Guide Others Internal State
Takashi Omori; Takayuki Shimotomai; Kasumi Abe; Takayuki Nagai
2015 24TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN), IEEE, 101-105, Sep. 2015, Peer-reviwed
International conference proceedings, English - Probabilistic Modeling of Mental Models of Others
Takayuki Nagai; Kasumi Abe; Tomoaki Nakamura; Natsuki Oka; Takashi Omori
2015 24TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN), IEEE, 89-94, Sep. 2015, Peer-reviwed, Intimacy is a very important factor not only for the communication between humans but also for the communication between humans and robots. In this research we propose an action decision model based on others' friendliness value, which can be estimated using the mental models of others. We examine the mutual adaptation process of two agents, each of which has its own model of others, through the interaction between them.
International conference proceedings, English - Play Strategies for Building Good Relationships between Shy Children and Robots
阿部 香澄; 日永田 智絵; アッタミミ ムハンマド; 長井 隆行; 岩崎 安希子; 下斗米 貴之; 大森 隆司; 岡 夏樹
Lead, IPSJ Journal, 一般社団法人情報処理学会, 55, 12, 2524-2536, 15 Dec. 2014, Peer-reviwed, In order to decrease the burden of childcare on caregivers in nuclear families, we aim to implement robotic playmates to play with children at home. Such robots can befriend children, playing with them for periods of about 30 minutes while the parent does household work. Like childcare workers, the robots should be able to play flexibly with any child. However, more introverted children seem unable to play with these robots, and it is difficult to establish good relationships between robots and such children. We therefore investigated ways in which robots could play with introverted children. For this purpose, our future work aims to implement an action selection system according to children's personality. In this paper, as a first step, we hypothesize and test the existence of an effective play strategy for making a shy child friendlier. First we defined those play actions in which the robot expresses intimacy to children as "affiliative play," and play actions with highly anxious children as "relief-anxiety play." We conducted a communication experiment, in which 5- to 6-year-old children and a robot teleoperated by a preschool teacher were involved. We found that both "affiliative play" and "relief-anxiety play" were effective for shy children.
Scientific journal, Japanese - Integrated Concept of Human Motions and Objects based on Multi-layered Multimodal LDA
Attamimi Muhammad; Fadlil Muhammad; Abe Kasumi; Nakamura Tomoaki; Funakoshi Kotaro; Nagai Takayuki
JRSJ, The Robotics Society of Japan, 32, 8, 753-764, Nov. 2014, Peer-reviwed, The human understanding of things is based on prediction which is made through concepts formed by categorization of their experience. To mimic this mechanism in robots, multimodal categorization, which enables the robot to form concepts, has been studied. On the other hand, segmentation and categorization of human motions have also been studied to recognize and predict future motions. This paper addresses the issue of how these concepts are integrated to generate higher level concepts and, more importantly, how the higher level concepts affect each lower level concept formation. To this end, we propose multi-layered multimodal latent Dirichlet allocation (mMLDA) to learn and represent the hierarchical structure of concepts. We also examine a simple integration model and compare with the mMLDA. The experimental results reveal that the mMLDA leads to better inference performance and, indeed, forms higher level concepts integrating motions and objects that are necessary for real-world understanding.
Scientific journal, Japanese - Toward playmate robots that can play with children considering personality
Kasumi Abe; Chie Hieida; Muhammad Attamimi; Takayuki Nagai; Takayuki Shimotomai; Takashi Omori; Natsuki Oka
HAI 2014 - Proceedings of the 2nd International Conference on Human-Agent Interaction, Association for Computing Machinery, Inc, 165-168, 29 Oct. 2014, Peer-reviwed, It is difficult to design robotic playmates for introverted children. Therefore, we examined how a robot should play with such shy children. In this study, we hypothesized and tested an effective play strategy for building a good relationship with shy children. We conducted an experiment with 5- to 6-year-old children and a humanoid robot teleoperated by a preschool teacher. We developed a valid play strategy for shy children.
International conference proceedings, English - Physical Embodied Communication between Robots and Children: An Approach for Relationship Building by Holding Hands
Chie Hieida; Kasumi Abe; Muhammad Attamimi; Takayuki Shimotomai; Takayuki Nagai; Takashi Omori
2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), IEEE, 3291-3298, Sep. 2014, Peer-reviwed, The influence of holding hands on the relationship building process between children and robots is investigated in this study. In particular, at the first meeting, it is difficult for a child to be open if he/she starts to rebuff the robot partner. This significantly degrades the possibility of the child forming a friendship relationship with the robot. Thus, the initial approach of the robot to the child in the early stage of the relationship building process should be appropriate. We hypothesize that physical embodied communication, such as walking hand in hand, improves the relationship between children and robots. A holding hands system was implemented in a real robot, and an experiment was conducted at a kindergarten to validate our hypothesis. The results strongly support our hypothesis.
International conference proceedings, English - Integration of Various Concepts and Grounding of Word Meanings Using Multi-layered Multimodal LDA for Sentence Generation
Muhammad Attamimi; Muhammad Fadlil; Kasumi Abe; Tomoaki Nakamura; Kotaro Funakoshi; Takayuki Nagai
2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), IEEE, 2194-2201, Sep. 2014, Peer-reviwed, In the field of intelligent robotics, object handling by robots can be achieved by capturing not only the object concept through object categorization, but also other concepts (e.g., the movement while using the object), as well as the relationship between concepts. Moreover, capturing the concepts of places and people is also necessary to enable the robot to gain real-world understanding. In this study, we propose multi-layered multimodal latent Dirichlet allocation (mMLDA) to realize the formation of various concepts, and the integration of those concepts, by robots. Because concept formation and integration can be conducted by mMLDA, the formation of each concept affects others, resulting in a more appropriate formation. Another issue to be addressed in this paper is the language acquisition by the robots. We propose a method to infer which words are originally connected to a concept using mutual information between words and concepts. Moreover, the order of concepts in teaching utterances can be learned using a simple Markov model, which corresponds to grammar. This grammar can be used to generate sentences that represent the observed information. We report the results of experiments to evaluate the effectiveness of the proposed method.
International conference proceedings, English - Robots that can play with children: What makes a robot be a friend
Muhammad Attamimi; Kasumi Abe; Akiko Iwasaki; Takayuki Nagai; Takayuki Shimotomai; Takashi Omori
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Springer, 8226, 1, 377-386, Nov. 2013, Peer-reviwed, In this paper, a playmate robot system, which can play with a child, is proposed. Unlike many therapeutic service robots, our proposed system is implemented as a functionality of the domestic service robot with a high degree of freedom. This implies that the robot can use its body and toys for playing high-level games with children, i.e., beyond therapeutic play, using its physical features. The proposed system currently consists of ten play modules, including a chatbot, card playing, and drawing. To sustain the player's interest in the system, we also propose an action-selection strategy based on a transition model of the child's mental state. The robot can estimate the child's state and select an appropriate action in the course of play. A portion of the proposed algorithms was implemented on a real robot platform, and experiments were carried out to design and evaluate the proposed system. © Springer-Verlag 2013.
International conference proceedings, English - Integrated Concept of Objects and Human Motions Based on Multi-layered Multimodal LDA
Muhammad Fadlil; Keisuke Ikeda; Kasumi Abe; Tomoaki Nakamura; Takayuki Nagai
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE, 2256-2263, Nov. 2013, Peer-reviwed, The human understanding of things is based on prediction which is made through concepts formed by the categorization of experience. To mimic this mechanism in robots, multimodal categorization, which enables the robot to form concepts, has been studied. On the other hand, segmentation and categorization of human motions have also been studied to recognize and predict future motions. This paper addresses the issue on how these different kinds of concepts are integrated to generate higher level concepts and, more importantly, on how the higher level concepts affect the formation of each lower level concept. To this end, we propose the multi-layered multimodal latent Dirichlet allocation (mMLDA), which is an expansion of the MLDA to learn and represent the hierarchical structure of concepts. We also examine a simple integration model and compare it with the mMLDA. The experimental results reveal that the mMLDA leads to a better inference performance and, indeed, forms higher level concepts which integrate motions and objects that are necessary for real-world understanding.
International conference proceedings, English - Robots That Play with a Child : Application of an Action Decision Model Based on Mental State Estimation
ABE Kasumi; IWASAKI Akiko; NAKAMURA Tomoaki; NAGAI Takayuki; YOKOYAMA Ayami; SHIMOTOMAI Takayuki; OKADA Hiroyuki; OMORI Takashi
Lead, JRSJ, The Robotics Society of Japan, 31, 3, 263-274, 15 Apr. 2013, Peer-reviwed, There has been many problems in situations surrounding children such as child neglect, deterioration in the quality of play, etc. We believe that robotic playmates would greatly help to solve these problems. In this paper we propose a playmate robot system that can play with a child. Unlike many therapeutic service robots, our proposed playmate system is implemented as a functionality of the domestic service robot with a high degree-of-freedom. This means that the robot can play with children at a high level, i.e., beyond a therapeutic effect, using its physical features. To sustain the player's interest in the system, we also propose an action selection strategy based on a transition model of the child's mental state. The robot can estimate the child's state and select an appropriate action in the course of play. Part of the proposed algorithms was implemented on a real robot platform, and experiments were carried out to design and evaluate the proposed system.
Scientific journal, Japanese - Using Robots to Estimate Children's Personalities
Iwasaki, Akiko; Shimotomai, Takayuki; Abe, Kasumi; Nakamura, Tomoaki; Nagai, Takayuki; Omori, Takashi
Proceedings of the First International Symposium of Affective Engineering, 397-400, Mar. 2013, Peer-reviwed
International conference proceedings, English - Estimating Children's Personality Tendencies by a Playing Robot
IWASAKI Akiko; SHIMOTOMAI Takayuki; ABE Kasumi; NAKAMURA Tomoaki; NAGAI Takayuki; OMORI Takashi
Transactions of Japan Society of Kansei Engineering, Japan Society of Kansei Engineering, 12, 1, 219-227, Feb. 2013, Peer-reviwed, Various robots had been developed lately, not only for industrial use but for home use too. In our previous study, we had developed a playmate robot system that is designed to play with children. Child personality observation is important during play situations for smooth interaction, in order to sustain the child's interest. Therefore, we considered that the robot system should be able to distinguish children's personality types or tendencies. As a result, the relationship between the child's personality test score and head movement observed during the robot play interaction was found to be significant. This suggests the possibility of an adaptive robot system that plays with children in accordance to each child personality.
Scientific journal, Japanese - Playmate Robots That Can Act According to a Child's Mental State
Kasumi Abe; Akiko Iwasaki; Tomoaki Nakamura; Takayuki Nagai; Ayami Yokoyama; Takayuki Shimotomai; Hiroyuki Okada; Takashi Omori
Lead, 2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE, 4660-4667, Oct. 2012, Peer-reviwed, We propose a playmate robot system that can play with a child. Unlike many therapeutic service robots, our proposed playmate system is implemented as a functionality of the domestic service robot with a high degree of freedom. This implies that the robot can play high-level games with children, i.e., beyond therapeutic play, using its physical features. The proposed system currently consists of ten play modules, including a chatbot with eye contact, card playing, and drawing. The algorithms of these modules are briefly discussed in this paper. To sustain the player's interest in the system, we also propose an action-selection strategy based on a transition model of the child's mental state. The robot can estimate the child's state and select an appropriate action in the course of play. A portion of the proposed algorithms was implemented on a real robot platform, and experiments were carried out to design and evaluate the proposed system.
International conference proceedings, English
MISC
Lectures, oral presentations, etc.
- Child-Robot Interaction研究の舞台裏
阿部香澄
Others, 子ども中心のロボティクス研究専門委員会第１回研究会, Invited
27 Mar. 2024 - ロボットとAI技術の育児・発達支援への応用
阿部香澄
広島市私立保育協会・広島市保育連盟 合同研修会 “保育とロボット・ＡＩは共存できるのか？―保育の未来を語るー” 第一部基調講演①, Invited
13 Feb. 2024 - 遠隔保育ロボットによる日常的な発達支援のための遊び選出システム
井口 丈琉; 阿部 香澄; 中村 友昭; 長井 隆行
Oral presentation, 第41回日本ロボット学会学術講演会
14 Sep. 2023 - 遠隔保育ロボットのための自律化学習と意図空間の解析
佐藤 駿介; 阿部 香澄; 長井 隆行
Oral presentation, 第41回日本ロボット学会学術講演会
14 Sep. 2023 - 遠隔育児支援ロボットと遊び中の子どもの反応や印象の脳活動を用いた検討
粕谷 美里; 阿部 香澄; 長井 隆行
Oral presentation, 第41回日本ロボット学会学術講演会
14 Sep. 2023 - ロボットとAI技術の育児・発達支援への応用
阿部香澄
Invited oral presentation, 第41回ロボット学会学術講演会, オープンフォーラムOF8“人と共に進化するAIとロボット技術”, Invited
11 Sep. 2023 - リアルタイムフィードバックシステムのための危険運転指摘画像の受け入れやすさに関する脳活動を用いた検証
北川 浩行; 粕谷 美里; 阿部 香澄; 中村 友昭; 鷲尾 宏太; 真鍋 周平
Poster presentation, 2023年度日本認知科学会第40回大会
07 Sep. 2023 - 発達を促す遊びの遠隔からの実施と記録～保護者と保育士のやり取りのきっかけ作り～
藤野恭子; 阿部香澄; 奥温子; 安崎優太; 長井隆行
Poster presentation, 日本赤ちゃん学会第23回学術集会, 大阪
06 Aug. 2023 - 遠隔保育ロボットのための自律的距離調整の学習
佐藤駿介; 阿部香澄; 堀井隆斗; 長井隆行
Oral presentation, Japanese, 第40回 日本ロボット学会学術講演会, Domestic conference
08 Sep. 2022 - 遠隔保育ロボットによる発達支援のための幼児の関心推定システム
井口丈琉; 阿部香澄; 中村友昭; 長井隆行
Oral presentation, Japanese, 第40回 日本ロボット学会学術講演会, Domestic conference
06 Sep. 2022 - 幼児発達支援の呼称課題における回答自動分類機の開発
大道弘明; 阿部香澄; 中村友昭; 長井隆行
Oral presentation, Japanese, 第40回 日本ロボット学会学術講演会, Domestic conference
06 Sep. 2022 - 自律エージェントの説明機構に対する主観評価と脳活動
粕谷美里; 阿部香澄; 長井隆行
Oral presentation, Japanese, 日本人間工学会第63回大会, Domestic conference
30 Jul. 2022 - テレ保育ロボットChiCaRoによる家庭内子育て支援～遠隔共同子育てと発達支援システム～
阿部香澄
Public discourse, Japanese, 福井大学第688回大学院セミナー, Invited
14 Jun. 2022 - 遠隔育児支援システムの操作者に提示する説明情報の主観と脳活動
粕谷美里; 阿部香澄; 長井隆行
Oral presentation, Japanese, 日本認知心理学会第19回大会, Domestic conference
01 Mar. 2022 - 遠隔保育ロボットを用いた乳幼児の日常的な見立てと支援のための発達支援システムの構築
阿部香澄; 三木晴子; 藤野恭子; 堀井隆斗; 長井隆行
Poster presentation, Japanese, 日本発達障害学会第56回研究大会, Domestic conference
30 Oct. 2021 - テレ保育ロボットChiCaRoによる遠隔共同子育てと発達支援システム
阿部 香澄
Invited oral presentation, Japanese, 日本発達神経科学会 第9回学術集会, Invited
28 Nov. 2020 - テレ保育ロボットChiCaRoによる未来の子育て支援
阿部 香澄
Public discourse, Japanese, 白梅学園大学 子ども学部子ども学科 現代子ども学特別演習, Invited
27 Nov. 2020 - 遠隔保育ロボットを用いたToddler層乳幼児の言語発達支援システムの提案
三木晴子; 阿部香澄; 堀井隆斗; 長井隆行
Oral presentation, Japanese, 第38回日本ロボット学会学術講演会, Domestic conference
10 Oct. 2020 - 未就学児育児におけるロボット・AIの社会受容性と期待
阿部香澄; 塩見昌裕; 粕谷美里; 長井隆行
Oral presentation, Japanese, 第38回日本ロボット学会学術講演会, Domestic conference
10 Oct. 2020 - テレ保育ロボットChiCaRoと遠隔保育技術を活用したリモート調査
阿部 香澄
Invited oral presentation, Japanese, 日本赤ちゃん学会第20回学術集会, Invited
19 Sep. 2020 - 遠隔保育ロボットを用いた乳幼児の言語発達評価システム～言語聴覚士による巡回支援の補助を目的として～
三木晴子; 阿部香澄; 堀井隆斗; 長井隆行
Poster presentation, Japanese, 日本赤ちゃん学会第20回学術集会, Domestic conference
19 Sep. 2020 - ロボットでの幼児の気質推定に基づく遊び提案システムに向けた分析
樋口由樹; 阿部香澄; 植村優里; 塩見昌裕; 金井玲奈; 中村友昭; 長井隆行
Poster presentation, Japanese, 赤ちゃん学会若手部会第7回研究合宿, Domestic conference
08 Sep. 2019 - 子どもの振る舞いに基づく遠隔操作型ロボットを用いたパーソナリティ推定手法の提案
阿部香澄; 長井隆行; 日永田智絵; 大森 隆司; 塩見 昌裕
Poster presentation, Japanese, 赤ちゃん学会若手部会第7回研究合宿, Domestic conference
08 Sep. 2019 - ロボットでの幼児の気質推定に基づく遊び提案システムに向けた分析
阿部 香澄; 植村 優里; 樋口 由樹; 塩見 昌裕; 金井 玲奈; 中村 友昭; 長井 隆行
Oral presentation, Japanese, 第37回日本ロボット学会学術講演会, Domestic conference
06 Sep. 2019 - 子どもと遠隔操作型ロボットのインタラクション観察に基づく性格推定手法の提案
阿部 香澄; 長井 隆行; 大森 隆司; 塩見 昌裕
Oral presentation, Japanese, 第37回日本ロボット学会学術講演会, Domestic conference
06 Sep. 2019 - ChiCaRo
阿部 香澄
Public discourse, Japanese, ものづくり×ロボットコラボフェア, Invited
27 Feb. 2019 - 幼児の片づけ行動における関心推定手法の検討
大野 真梨奈; 阿部 佑香; 吉崎 美紗; 薮ノ内 伸晃; 宮澤 和貴; 阿部 香澄; 長井 隆行
Poster presentation, Japanese, 電子情報通信学会 HCGシンポジウム, Domestic conference
12 Dec. 2018 - AI・ロボットを利用した「ふれあい」の育児支援
阿部 香澄
Keynote oral presentation, Japanese, さばえものづくり博覧会2018, Invited, Domestic conference
26 Nov. 2018 - 幼児の片づけ行動における行動誘引手法の検証－はたらきかけの違いによる効果の比較－
阿部佑香; 大野真梨奈; 薮ノ内伸晃; 宮澤和貴; 阿部香澄; 長井隆行
Poster presentation, Japanese, 日本子ども学会議, Domestic conference
10 Nov. 2018 - 子育てのあり方を変える遠隔育児支援ロボットChiCaRo
阿部 香澄
Invited oral presentation, Japanese, ダイバーシティ・セミナー＆女性研究者によるシーズ発表会, Invited
05 Oct. 2018 - 遠隔保育ロボットによる遠隔共同育児の試みと遊び成立支援システムの構築
阿部 香澄
Oral presentation, Japanese, 赤ちゃん学会若手部会第6回研究合宿, Domestic conference
Sep. 2018 - 乳幼児と祖父母の交流を増やす遠隔共同育児の試み：核家族社会におけるテレプレゼンスロボットを介した育児スタイルの提案
阿部香澄; 塩見昌裕; 日永田智絵; 長井隆行
Poster presentation, 日本赤ちゃん学会第18回学術集会
Jul. 2018 - 遠隔地から乳幼児とふれあえるテレ保育ロボットを用いた遊び成立支援システムの検討
阿部 香澄
Invited oral presentation, Japanese, 日本学術振興会 RPD研究交流会, Invited
Jul. 2018 - 幼児の生活習慣行動における音楽の行動着手誘引効果の検証
阿部佑香; 武長智子; 大野真梨奈; 薮ノ内伸晃; 阿部香澄; 長井隆行
Poster presentation, こども環境学会2018年大会
20 May 2018 - 乳幼児と祖父母の交流を増やす遠隔共同育児の試み-核家族社会におけるテレプレゼンスロボットを介した育児スタイルの提案-
阿部香澄; 阿部香澄; 阿部香澄; 塩見昌裕; 日永田智絵; 長井隆行
日本赤ちゃん学会学術集会プログラム・要旨集
2018
2018 2018 - ロボットとの遊び行動分析に基づく子どもの性格推定
阿部香澄; 阿部香澄; 阿部香澄; 濱田侑輝; 長井隆行; 塩見昌裕; 大森隆司
Japanese, 日本ロボット学会学術講演会予稿集(CD-ROM), http://jglobal.jst.go.jp/public/201702278936720574
11 Sep. 2017 - 遠隔保育支援ロボット「ChiCaRo」
阿部 香澄
Public discourse, Japanese, 新技術説明会, Invited, Domestic conference
18 May 2017 - 保育支援のための子どもの行動追跡システムの評価
張斌; 中村友昭; 潮木玲奈; 長井隆行; 阿部香澄; 大森隆司; 岡夏樹; 金子正秀
Japanese, 計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM), http://jglobal.jst.go.jp/public/201702284371050691
06 Dec. 2016 - 母親の育児方法からの未就学児のパーソナリティ予測可能性:子育て支援システムの提案に向けて
末次雄介; 岡夏樹; 小島隆次; 西崎友規子; 阿部香澄; 深田智
Japanese, 情報処理学会関西支部支部大会講演論文集(CD-ROM), http://jglobal.jst.go.jp/public/201702256983540748
26 Sep. 2016 - 母親の育児方法からの未就学児のパーソナリティ予測可能性：子育て支援システムの提案に向けて
末次, 雄介; 岡, 夏樹; 小島, 隆次; 西崎, 友規子; 阿部, 香澄; 深田, 智
Japanese, 2016年度 情報処理学会関西支部 支部大会 講演論文集, [情報処理学会関西支部], http://id.nii.ac.jp/1001/00175253/, 「子育て支援システム」を作成するために母親の育児方法から未就学児のパーソナリティ予測が必要だと考え、調査を行った。その結果、母親の育児方法と未就学児のパーソナリティが関連していることが分かり、予測可能性が示唆された。
16 Sep. 2016
16 Sep. 2016- 16 Sep. 2016 - 子ども‐ロボットインタラクションにおける子どもの振る舞いを用いた性格推定
濱田侑輝; 阿部香澄; 阿部香澄; 長井隆行
Japanese, 日本ロボット学会学術講演会予稿集(CD-ROM), http://jglobal.jst.go.jp/public/201602290933193897
07 Sep. 2016 - ロボットを怖がる乳幼児の観察
塩見昌裕; 阿部香澄; 阿部香澄; 裴雅超; 池田成満; 長井隆行
Japanese, 日本ロボット学会学術講演会予稿集(CD-ROM), http://jglobal.jst.go.jp/public/201602262137132605
07 Sep. 2016 - 子育て支援ロボット「ChiCaRo」の開発
塩見昌裕; 阿部香澄; 阿部香澄; 裴雅超; 張亭芸; 池田成満; 長井隆行
Japanese, 日本ロボット学会学術講演会予稿集(CD-ROM), http://jglobal.jst.go.jp/public/201602256295925262
07 Sep. 2016 - 保育AI ： 心の発達を理解するAIの可能性
大森 隆司; アッタミミ ムハンマド; 山田 徹志; 中村 友昭; 肥田 竜馬; 阿部 香澄; 長井 隆行; 岡 夏樹; 西村 拓一
Japanese, 人工知能学会全国大会論文集, http://ci.nii.ac.jp/naid/130007422618
Jun. 2016 - 母親の子育ての仕方が子どもの性格に与える影響
末次 雄介; 岡 夏樹; 小島 隆次; 西崎 友規子; 阿部 香澄; 深田 智
Japanese, 人工知能学会全国大会論文集, http://ci.nii.ac.jp/naid/130007426553
Jun. 2016 - 複数のKinectを用いた子どもの行動追跡及び個人認証
張 斌; 中村 友昭; 阿部 香澄; アッタミミ ムハンマド; 長井 隆行; 大森 隆司; 岡 夏樹; 金子 正秀
Japanese, 人工知能学会全国大会論文集, http://ci.nii.ac.jp/naid/130007426345
Jun. 2016 - 育児支援ロボットで創る開放的子育てスタイル
阿部香澄
第4回インテリジェントホームロボティクス研究会,日本ロボット学会インテリジェントホームロボティクス(iHR)研究専門委員会 若手ロボット起業家セッション, Invited
27 May 2016 - 保育AI:心の発達を理解するAIの可能性
大森隆司; ATTAMIMI Muhanmad; 山田徹志; 中村友昭; 肥田竜馬; 阿部香澄; 長井隆行; 岡夏樹; 西村拓一
人工知能学会全国大会論文集(CD-ROM)
2016
2016 2016 - 母親の子育ての仕方が子どもの性格に与える影響:子育て支援システムの作成に向けて
末次雄介; 岡夏樹; 小島隆次; 西崎友規子; 阿部香澄; 深田智
人工知能学会全国大会論文集(CD-ROM)
2016
2016 2016 - リトミックの場の計測と解析－摸倣関係に見る社会性の発達－
大塚朔甫; 阿部香澄; アッタミミ ムハンマド; 中村友昭; 長井隆行; 早川博章; 深田智; 岡夏樹; 潮木玲奈; 岩田恵子; 大森隆司
Poster presentation, Japanese, HAIシンポジウム2015, Domestic conference
05 Dec. 2015 - 階層ディリクレ過程隠れマルコフモデルを用いた正直シグナルのモデル化
片上祐介; 阿部香澄; Attamimi Muhammad; 長井隆行; 中村友昭
Poster presentation, Japanese, HAIシンポジウム2015, Domestic conference
05 Dec. 2015 - 保育支援システムのためのKinectを用いた子どもの行動追跡
CHO TAKESHI; NAKAMURA TOMOAKI; ABE KASUMI; ATTAMIMI MUHANMADO; USHIOGI REINA; NAGAI TAKAYUKI; OMORI TAKASHI; OKA NATSUKI; KANEKO MASAHIDE
Japanese, 計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM), http://jglobal.jst.go.jp/detail.php?from=API&JGLOBAL_ID=201502211110945958
18 Nov. 2015 - A Telepresence Robot and Environmental Sensors for Childcare Support
SHIOMI MASAHIRO; ABE KASUMI; PEI YACHAO; ZHANG TINGYI; IKEDA NARUMITSU; NAGAI TAKAYUKI
Japanese, IEICE technical report, http://ci.nii.ac.jp/naid/40020650872
30 Oct. 2015 - リトミックにおける子どもの振る舞いの測定と発達の解明
大塚 朔甫; 阿部 香澄; アッタミミ ムハンマド; 中村 友昭; 長井 隆行; 早川 博章; 深田 智; 岡 夏樹; 潮木 玲奈; 岩田 恵子; 大森 隆司
Poster presentation, Japanese, 第12回子ども学会議, Domestic conference
10 Oct. 2015 - Telepresence Childcare Support Robot Connecting Young Children and Their Grandparents : Needs and Problems
ABE KASUMI; PEI YACHAO; ZHANG TINGYI; HIEIDA CHIE; NAGAI TAKAYUKI
Oral presentation, Japanese, 人工知能学会全国大会論文集(CD-ROM), http://ci.nii.ac.jp/naid/40020497360, Domestic conference
Jun. 2015 - 確率モデルに基づく他者モデル相互適応のモデル化
鴫原 宏明; アッタミミ ムハンマド; 阿部 香澄; 長井 隆行; 大森 隆司; 岡 夏樹
Poster presentation, Japanese, HAIシンポジウム2014, Domestic conference
13 Dec. 2014 - 他者モデルを有するエージェントインタラクションにおける二者関係のモデル化
鴫原宏明; アッタミミムハンマド; 阿部香澄; 長井隆行; 大森隆司; 岡夏樹
Japanese, 第14回計測自動制御学会システムインテグレーション部門講演会, Domestic conference
Dec. 2014 - 人とロボットの対話における正直シグナルの利用
片上祐介; 阿部香澄; アッタミミムハンマド; 長井隆行
Japanese, 第14回計測自動制御学会システムインテグレーション部門講演会, Domestic conference
Dec. 2014 - Modeling of Strategic Behavior that Win Other into Interaction
岩崎 安希子; 下斗米 貴之; 阿部 香澄; 長井隆行; 大森隆司
Oral presentation, Japanese, JCSS Japanese Congnitive Science Society, http://www.jcss.gr.jp/meetings/JCSS2014/proceedings/pdf/JCSS2014_O3-2.pdf#search=%27%E4%BB%96%E8%80%85%E3%82%92%E5%BC%95%E3%81%8D%E8%BE%BC%E3%82%93%E3%81%A7%E3%81%84%E3%81%8F%E6%88%A6%E7%95%A5%E7%9A%84%E3%82%A4%E3%83%B3%E3%82%BF%E3%83%A9%E3%82%AF%E3%82%B7, Domestic conference
19 Sep. 2014 - 多層マルチモーダルLDAを用いた多様な概念の統合と語意の獲得
FADLIL MUHAMMAD; ATTAMIMI MUHAMMAD; ABE KASUMI; NAKAMURA TOMOAKI; NAGAI TAKAYUKI
Japanese, 人工知能学会全国大会論文集(CD-ROM), http://jglobal.jst.go.jp/detail.php?from=API&JGLOBAL_ID=201402214449771020,知能ロボットが実環境で行動するためには，物体や動き，場所など様々な概念とその関係性を獲得する必要がある．本稿では，多層マルチモーダルLDA を用いた物体，動き，場所，人物の概念形成及び統合を行い，さらに語意を獲得する手法を提案する．相互情報量を用いることで単語と概念の結び付きを獲得し，教示発話における概念の発火順を学習することで，観測データに対する文章生成を実現することを考える．
May 2014 - Preliminary Study on Robots that Play with a Child Considering Him/Her Personality
阿部 香澄; 日永田 智絵; 鴫原 宏明; 長井隆行; 下斗米貴之; 大森隆司
Oral presentation, Japanese, 人工知能学会全国大会論文集, http://ci.nii.ac.jp/naid/40020075908,ロボットがどんな子どもとも遊ぶためには，子どもの性格を考慮した対応が不可欠である．本稿では，子どもの性格を考慮して柔軟に遊べるロボットの実現に向け，内向的な子ども，特に人見知りへのロボットの対応方法を検討する．保育士が遠隔操作するロボットと5～6歳児との遊びを通したコミュニケーション実験を行い，この解析を通して，人見知りの子どもに有効な遊び行動が存在するという仮説を検証する．
, Domestic conference
May 2014 - 興味度と性格の推定システムに関する検討
SHIMOTOMAI TAKAYUKI; IWASAKI AKIKO; ABE KASUMI; NAGAI TAKAYUKI; OMORI TAKASHI
Japanese, 日本感性工学会春季大会予稿集(CD-ROM), http://jglobal.jst.go.jp/detail.php?from=API&JGLOBAL_ID=201402258786372932
23 Mar. 2014 - ロボットと子どもの身体的コミュニケーション~手をつなぐことによる関係性の構築~
HIEIDA CHIE; ABE KASUMI; NAGAI TAKAYUKI
Japanese, 情報処理学会全国大会講演論文集, http://ci.nii.ac.jp/naid/170000085860, 身体的なコミュニケーションは人間同士で行われると安全の感覚を伝える効果があるといわれている。その効果はコミュニケーションの初めのアプローチとして有効だと考えられる。子どもは初対面の相手に対して一度拒絶反応を起こすと打ち解けることが困難になる場合が多い。従って、初対面の子どもに対してロボットがどのように振る舞うかは重要である。我々は、初対面時に手をつなぐ行為がその後のロボットと子どもの関係性を良好なものにするとの仮説を立てた。手つなぎを実装したヒューマノイドロボットを用い、5～6歳児を対象に行ったコミュニケーション実験を通して仮説を検証した結果を報告する。
11 Mar. 2014 - ロボット‐子供遊び戦略と生体指標による評価
IWASAKI AKIKO; SHIMOTOMAI TAKAYUKI; ABE KASUMI; SHIGIHARA HIROAKI; ANDO YUJI; HIEIDA CHIE; ATTAMIMI MUHAMMAD; NAGAI TAKAYUKI; OMORI TAKASHI
Japanese, 日本感性工学会春季大会予稿集(CD-ROM), http://jglobal.jst.go.jp/detail.php?from=API&JGLOBAL_ID=201402257413100030
Mar. 2014 - ロボット‐子ども間の関係構築における手つなぎの影響
日永田智絵; 阿部香澄; 長井隆行; 下斗米貴之; 大森隆司
Oral presentation, Japanese, HAI シンポジウム2013, Domestic conference
Dec. 2013 - Integrated Concept of Objects and Human Motions based on Multi-layered Multimodal LDA
Fadlil Muhammad; 池田 圭佑; 阿部 香澄
Japanese, 人工知能学会全国大会論文集, http://ci.nii.ac.jp/naid/40020298335,人間による理解は概念を通した予測に基づいている．例えば，ボールから蹴るといった動きが予測できる．そのためには物体と動きの概念，更にそれらの関係を表す概念が必要である．本稿では，物体や動きの概念を形成する複数のマルチモーダルLDA を，上層のマルチモーダルLDA で統合するモデルを提案する．これにより，物体と動きの関係を表す統合的な概念が形成でき，ロボットが実世界を理解することが可能となる．
Jun. 2013 - 性格を読み取るロボットシステム
下斗米貴之; 岩崎安希子; 阿部香澄; 中村友昭; 長井隆行; 大森隆司
Japanese, 研究報告知能システム（ICS）, http://ci.nii.ac.jp/naid/110009551531, 近年，様々なロボットは工業用だけでなく家庭用としても開発され使われ始めており，近い将来ロボットと接する機会はますます増え，ロボット開発者にとってロボットは人とどのように生活するべきかという問題がますます重要になると考えられる．そこで，これまで我々は家庭用ロボットとして子どもとの遊び仲間ロボット・システムを開発してきた．遊びの間に子どもの興味を保持するために，ロボットが子どもの感情および人の性格を理解することは重要である．そこで，本研究では子どもの性格を推定するシステムについて検討した．まず，ロボットと子どもの遊び実験を実施し，子どもの性格検査スコアと遊びで観察された行動のデータを分析し関係性があることを明らかにした．本提案システムでは，分析結果を元に行動観測から性格スコアの推定を行っている．
11 Mar. 2013 - Teleoperation Interface for Playmate Humanoid Robots
FUJIOKA Naoki; ABE Kasumi; MARUYAMA Kyouhei; ARAKI Takaya; NAKAMURA Tomoaki; NAGAI Takayuki
Japanese, 電気学会研究会資料. IM, 計測研究会, http://ci.nii.ac.jp/naid/10031175065
12 Dec. 2012 - Integrated model of objects and actions based on multi-layered multimodal LDA
IKEDA Keisuke; ABE Kasumi; NAKAMURA Tomoaki; ARAKI Takaya; NAGAI Takayuki
Japanese, 電気学会研究会資料. IM, 計測研究会, http://ci.nii.ac.jp/naid/10031175063
12 Dec. 2012 - 遊びロボットによる子供の性格推定に関する基礎的研究
IWASAKI AKIKO; SHIMOTOMAI TAKAYUKI; ABE KASUMI; NAKAMURA TOMOAKI; NAGAI TAKAYUKI; OMORI TAKASHI
Japanese, 日本認知科学会大会発表論文集(CD-ROM), http://jglobal.jst.go.jp/detail.php?from=API&JGLOBAL_ID=201302277282675494
Dec. 2012 - Engagement Estimation Using Gaussian Mixture Engagement Models for a Playmate Robot
Si Chen; Kasumi Abe; Tomoaki Nakamura; Takayuki Nagai; Hongsheng He; Shuzhi Sam Ge
Oral presentation, English, 第30回日本ロボット学会学術講演会, Domestic conference
Sep. 2012 - ヒトと遊ぶロボットの感性
SHIMOTOMAI TAKAYUKI; ABE KASUMI; IWASAKI AKIKO; NAKAMURA TOMOAKI; NAGAI TAKAYUKI; OMORI TAKASHI
Invited oral presentation, Japanese, 日本感性工学会大会予稿集(CD-ROM), Invited, http://jglobal.jst.go.jp/detail.php?from=API&JGLOBAL_ID=201202209934290732, Domestic conference
31 Aug. 2012 - 子供と遊べるロボットとは？：心的状態推定と保育士の行動戦略に基づく行動決定モデルの適用
阿部 香澄
Poster presentation, Japanese, 日本赤ちゃん学会第12回学術集会, Domestic conference
Jun. 2012 - 子供の内部状態を推定しながら遊ぶPlaymate Robotの実現
ABE KASUMI; IWASAKI AKIKO; NAKAMURA TOMOAKI; NAGAI TAKAYUKI; YOKOYAMA AYAMI; SHIMOTOMAI TAKAYUKI; OKADA HIROYUKI; OMORI TAKASHI
Oral presentation, Japanese, 情報処理学会全国大会講演論文集, http://ci.nii.ac.jp/naid/110009783591, 核家族化や少子高齢化を背景に,今後,子供の遊び相手としての役割が家庭用ロボットに求められると考える.本稿では,子供の内部状態推定に基づいた行動決定モデルを利用することで,子供とより長い時間遊び続けられるPlaymate Robotの実現を目指す.遊びの間,ロボットは子供の振る舞いを観察し,飽きている,楽しんでいるといった子供の内部状態を推定する.そして,子供の興味を引き続けるよう,子供の状態に応じて行動を選択する.保育士と子供の遊び観察を基に,ロボットに実装可能な行動決定モデルを検討し,モデルを実装したロボットと子供との遊び実験を実施して,モデルの評価を行った., Domestic conference
06 Mar. 2012 - Basic Study on Realization of Playmate Robots That Estimate Child's Preference
IWASAKI Akiko; ABE Kasumi; NAKAMURA Tomoaki; NAGAI Takayuki; SHIMOTOMAI Takayuki; OMORI Takashi
Japanese, 電気学会研究会資料. IM, 計測研究会, http://ci.nii.ac.jp/naid/10031118697
16 Dec. 2011 - 子供と遊ぶロボット：他者の状態推定に基づく行動決定モデルの適用
阿部香澄; 岩崎安希子; 中村友昭; 長井隆行; 横山絢美; 下斗米貴之; 岡田浩之; 大森隆司
Oral presentation, Japanese, HAIシンポジウム2011, Domestic conference
Dec. 2011 - 推定した子供の状態に基づいて行動を選択する遊び相手ロボット
ABE KASUMI; IWASAKI AKIKO; NAKAMURA TOMOAKI; NAGAI TAKAYUKI; YOKOYAMA AYAMI; SHIMOTOMAI TAKAYUKI; OKADA HIROYUKI; OMORI TAKASHI
Japanese, 日本ロボット学会学術講演会予稿集(CD-ROM), http://jglobal.jst.go.jp/detail.php?from=API&JGLOBAL_ID=201102217299068250
07 Sep. 2011 - 他者の状態推定に基づく対人インタラクションロボットの行動戦略
YOKOYAMA AYAMI; OMORI TAKASHI; ABE KASUMI; NAGAI TAKAYUKI
Japanese, 日本認知科学会大会発表論文集(CD-ROM), http://jglobal.jst.go.jp/detail.php?from=API&JGLOBAL_ID=201202276086010502
Sep. 2011 - ロボットとの遊びにおける興味度推定
SHIMOTOMAI TAKAYUKI; ABE KASUMI; IWASAKI AKIKO; NAGAI TAKAYUKI; OMORI TAKASHI
Japanese, 日本感性工学会大会予稿集(CD-ROM), http://jglobal.jst.go.jp/detail.php?from=API&JGLOBAL_ID=201102214978575005
Sep. 2011 - Playing with a Child : Modeling of Strategy to continue desire of others who get bored easily
横山 絢美; 阿部 香澄; 長井 隆行
Japanese, 人工知能学会全国大会論文集, http://ci.nii.ac.jp/naid/40020254658,初対面の子供との遊びは難しい．最初は緊張し，慣れてうちとけても，すぐに飽きる．ところが幼稚 園の保育士はいくらでも遊びを続けられると言う．そこには，子供の意欲を維持するノウハウ・方略 があるであろう．本発表は，６歳児と保育士の遊び継続実験を通じて得られた，子供の特性モデル， それに対応した保育士の子供モデル，さらに意欲維持のための戦略切り替えのプロセスについての分 析について説明する．
, Domestic conference
Jun. 2011 - Preliminary Study on Playmate Robots That Naturally Play With Children and the Elderly
Abe Kasumi; Nakamura Tomoaki; Nagai Takayuki; Yokoyama Ayami; Shimotomai Toakayuki; Okada Hiroyuki; Omori Takashi
Oral presentation, Japanese, Proceedings of the IEICE General Conference, 一般社団法人電子情報通信学会, http://ci.nii.ac.jp/naid/110008574802, Domestic conference
28 Feb. 2011 - Playmate Robots That Provide Care for Children and the Elderly : Implementation and Challenges
ABE Kasumi; NAKAMURA Tomoaki; NAGAI Takayuki; YOKOYAMA Ayami; SHIMOTOMAI Takayuki; OKADA Hiroyuki; OMORI Takashi
Oral presentation, Japanese, 電気学会研究会資料. IM, 計測研究会, http://ci.nii.ac.jp/naid/10031118699, Domestic conference
17 Dec. 2010
Affiliated academic society
Research Themes
- 遠隔地から乳幼児とふれあえるテレ保育ロボットを用いた遊び成立支援システムの検討
阿部 香澄
日本学術振興会, 科学研究費助成事業, 電気通信大学, 特別研究員奨励費, Principal investigator, 本研究の目的は、遠隔で子どもと遊べるテレ保育ロボットを介して、遊びの経験や技量に依らずに誰でも子どもとの遊びを成立するための、遊び成立支援システムの実現である。子どもとの遊び成立の困難さは、振る舞いに基づく子どもの状態の推定や、その結果を受けての効果的遊び選定にある。これらの知識を体系化し、効果的な遊び戦略を子どもと遊ぶ操作者に提示するシステムの実現を目指す。 当該最終年度は、遊び推定モデルの作成を行い、遊び支援システムを実現した。遊び推定モデルは、昨年度までのデータから実現した、子どもの気質別に、子どもから遊び相手への親近感を向上／減少させる効果をもつ遊び行動の一覧を算出するモデルとした。時系列での遊び戦略の算出も試み、保育者の行動系列を教師なし学習で分節化するHSMM-SA Mixtured Modelを提案したが、近い戦略を取る保育者の集まりは抽出できたものの、各戦略と子どもの気質とは相関が見られず、本遊び推定モデルには適さなかった。この遊び推定モデルと、昨年度に確立した、ロボット内部の単眼カメラ画像から気質を推定する手法を用い、本研究の目的である、子どもの状態（気質）を受け、子どもの認知的構え（親近感）を良くする確率の高い遊び動作一覧を出力するという遊び支援システムを実現した。当初の計画では対乳幼児インタラクション実験によるシステムの有効性評価まで行う予定であったが、新型コロナウイルスの影響により中止した。一方、本研究で開発したテレ保育ロボットは、従来の対面調査が行えなくなった現社会様式において、実験設計の工夫で非対面での対乳幼児実験が可能なリモート調査法として注目され、特集号執筆依頼や招待講演等、時代に即応した成果を上げた。 上記の成果は、論文誌1件（掲載予定）、国際学会1件、国内学会4件（1件招待講演）で発表した。また、社会発信にも力を入れ、1件の取材に対応した。, 17J40236
Apr. 2017 - Mar. 2021 - テレ保育ロボットに対する幼児のAnti-social touch認識
阿部香澄
科学技術振興機構, AIPチャレンジプログラム, Principal investigator
Aug. 2019 - Mar. 2020 - どんな子どもとでも遊べるロボット：性格と認知的構えのダイナミクスの解明と応用
阿部 香澄
日本学術振興会, 科学研究費助成事業, 電気通信大学, 特別研究員奨励費, Principal investigator, 本研究の目標は、様々な性格や認知的構えをもつ子どもと遊べるロボットの実現である。多様な他者に対応できる行動決定モデルとして、ロボットが子どもの性格を推定し、性格に基づくその子どもの認知的構えの特徴を把握した上で、認知的構えを良い状態に維持する適切な遊び行動を実行する、という仕組みを実現する。子どもの性格や認知的構えは多様なため、2年間の研究では性格と認知的構えを2～3種類扱うこととし、これをモデル化することを目指した。 本年度は、モデル構築のためのデータ解析を行った。1年目に検討した子どもの振る舞いからの性格推定手法を整理して精度を向上させるとともに、例えば協調性の高い子はロボットとあまり視線を合わせないなど、振る舞いと子どもの性格の関係性を明らかにした。さらに、子どもの専門家である保育士がロボットを操作した記録から、子どもの性格の高低に応じた適切な遊び行動を分析した。例えば協調性の高い子にはロボットから多く語り掛けるなど、外向性と協調性のそれぞれの高低に応じて多く行うべき遊びを明らかにした。これらの解析結果をもとに、センサから得られた子どもの振る舞いデータを用いて子どもの性格と認知的構えを推定し、適切な行動を算出する、という多様な他者に対応する行動決定モデルの構築を行った。 さらに、開発したロボットの育児支援としての可能性にも着目し、1年目に引き続き、育児支援としてのロボットの開発やアウトリーチ活動にも力を入れ、研究成果の社会応用に向けても成果を上げた。, 15J11597
Apr. 2015 - Mar. 2017 - テレプレゼンス育児支援ロボット
長井隆行; 阿部 香澄
科学技術振興機構, 平成27年度 大学発新産業創出プログラム（START）技術シーズ選抜育成プロジェクト〔ロボティクス分野〕, Principal investigator
Oct. 2015 - Mar. 2016
Industrial Property Rights
- コミュニケーション支援システム、ロボット、動画処理装置および動画処理プログラム
Patent right, 阿部香澄, 長井隆行, 特願2018-177186, Date applied: 21 Sep. 2018, The University of Electro-Communications, 特開2020-48158, Date announced: 26 Mar. 2020, 特許第7257022 号, Date registered: 05 Apr. 2023 - コミュニケーション支援システム、遠隔者側表示装置およびコミュニケーション
Patent right, 阿部香澄, 長井隆行, 山内直子, 特願2020-12915, Date applied: 30 Jul. 2020, The University of Electro-Communications, 特開2022-025946, Date announced: 10 Feb. 2022 - 発達支援システム、その制御方法、プログラム及び促育遊び実施デバイス
Patent right, 阿部香澄, 長井隆行, 山内直子, 特願2021-166202, Date applied: 08 Oct. 2021, 株式会社ＣｈｉＣａＲｏ、国立大学法人電気通信大学 - チャットシステム、管理装置、端末装置、宛先選択支援方法および宛先選択支援プログラム
Patent right, 阿部 香澄, 池田成満, 長井隆行, 特願2016-237624, Date applied: 07 Dec. 2016, 国立大学法人電気通信大学, 特開2018-092528, 特許第6889464号, Date registered: 25 May 2021 - 遠隔遊び支援システム、心的状態・性格推定システム、遊び推定システム、方法およびプログラム
Patent right, 長井隆行, 阿部香澄, 濱田侑輝, 日永田智絵, 特願2016-225250, Date applied: 18 Nov. 2016, 国立大学法人電気通信大学, 特開2018-081631, Date announced: 24 May 2018, 特許第6781460号, Date registered: 20 Oct. 2020 - ビデオチャットロボットシステム、手渡し遊び制御手法および手渡し遊び制御プログラム
Patent right, 長井隆行, 阿部香澄, 裴雅超, 張亭芸, 日永田智絵, 特願2016-053021, Date applied: 16 Mar. 2016, 国立大学法人電気通信大学, 特開2017-164319, Date announced: 21 Sep. 2017, 特許第6647711号, Date registered: 17 Jan. 2020, - 触覚情報検出装置、及び、触覚情報検出方法
Patent right, 長井 隆行, 中村 友昭, 石井 香澄, 特願2008-210075, Date applied: 18 Aug. 2008, 国立大学法人電気通信大学, 特開2010-044028, Date announced: 25 Feb. 2010
Media Coverage
- #86 阿部香澄
日本テレビ, My turning point 〜ミライに挑む冒険者たち〜, Media report
May 2023 - 子育て中の孤独をテクノロジーで解消 遠隔でできる子育て支援
Other than myself, 多摩信用金庫, 広報たまちいき, NEXT TAMAへ, Pr
Aug. 2022 - 広報たまちいき, NEXT TAMAへ, 子育て中の孤独をテクノロジーで解消 遠隔でできる子育て支援
多摩信用金庫, Others
Aug. 2022 - Live News α, α ism ~イノベーション2.0~ 離れていても…子育てアバターロボの可能性
フジテレビ, Media report
Aug. 2021 - 内閣府首相官邸公式SNS「JAPAN GOV」 #MeetTheChangeMakers: ABE Kasumi
内閣府首相官邸, Others
Oct. 2020 - 朗報！？謎の“お助けグッズ”登場
NHK総合, 所さん！大変ですよ, Media report
Feb. 2020 - 所さん！大変ですよ「朗報！？謎の“お助けグッズ”登場」
NHK総合, Media report
Feb. 2020 - テクノロジーで子育てにゆとりを「パパ・ママをサポート 最新！育児ロボ」
NHK総合, ひるまえほっと, Media report
Nov. 2019 - ひるまえほっと テクノロジーで子育てにゆとりを「パパ・ママをサポート 最新！育児ロボ」
NHK総合, Media report
Nov. 2019 - まちづくり×ロボットコラボフェア開催
帝国データバンク, 週刊帝国ニュース埼玉県版
27 Mar. 2019 - 育児支援ロボなど紹介 さいたま市でイベント
日刊工業新聞社, 日刊工業新聞
01 Mar. 2019 - 電気通信大学のロボット技術発表
テレビ埼玉, Media report
27 Feb. 2019 - さばえものづくり博 開幕 家庭用遠隔保育ロボット「チカロ」
福井テレビ, プライムニュース, Media report
26 Oct. 2018 - 概念や言語を学習し家庭内作業をこなせる汎用ロボットへの道 電通大 長井研究室の取り組み 産学官連携DAYから
ロボスタ, Internet
21 Jun. 2018 - テレ保育ロボット用いた遊び成立支援システム共同研究
電波新聞社, Paper
24 Jan. 2018 - 「会いたくても会えない」シニアは分身ロボットで孫に会う
朝日新聞出版, AERA, Paper
30 Oct. 2017 - 頭も柔らかく身軽でしぶとい学生ベンチャー、注目サービスはこれだ！「子育て支援ロボ」と「全身振動スピーカー」は成功するか
日刊工業新聞社, ニュースイッチ
Jun. 2017 - 育児もお任せ、くらし支援最新ロボット
TBS, Nスタ, Media report
19 Oct. 2016 - 福祉から災害救助まで、ロボット勢ぞろい「ジャパンロボットウィーク」
AFPBB NEWS, Internet
Oct. 2016 - 試作ロボット展示会にみるニッポンの未来 「次」を担う研究…介護、子育て、福祉の現場に福音は届くか 子育て支援ロボ…リ
産経ニュース, Internet
23 Mar. 2016 - 最先端のロボット技術「ロボティクス」
フジテレビWebニュース, 「ホウドウキョク」 ニュースのキモ, Internet
Mar. 2016 - 若手研究者発のロボットに出会える！「RoboticsXFuture 2016」
日刊工業新聞社, ニュースイッチ, Internet
Feb. 2016 - หุ่นเลี้ยงเด็ก ช่วงที่
Modernine TV, ANOVATION, Media report
Dec. 2015 - 子育て支援ロボット 遠くの、おばあちゃんとも会話 電通大開発
毎日新聞, Paper
19 Oct. 2015 - 電気通信大学知能機械工学専攻 長井研究室（東京都調布市） 育児支援ロボット開発
読売新聞 探訪ラボ, Paper
Mar. 2015 - 未来の技術を創る：子どもが親近感をもって遊べる「子育てお助けロボット」を開発
電気通信大学広報センター, UEC WOMAN in Campus No.6, Pr
Mar. 2015 - 電通大、テレビ電話型の子守ロボ「ＣｈｉＣａＲｏ」開発－遠隔操作で子育て支援
日刊工業新聞, Paper
Nov. 2014 - 子守りロボット
テレビ東京, ワールドビジネスサテライト トレンドたまご, Media report
Nov. 2014 - ジャパン・ロボット・ウィークで見つけた5つの新作
Japan Real Time, Internet
Oct. 2014 - 5 Robots from Tokyo Robot Week: 1.The child care robot, ChiCaRo
The Wall Street Journal
Oct. 2014
Others
- 2023国際ロボット展 出展（アウトリーチ活動）
Nov. 2023 - Dec. 2023 - 横浜ロボットワールド2022 出展（アウトリーチ活動）
Dec. 2022 - 保育博2022 出展（アウトリーチ活動）
Nov. 2022 - 2020年、渋谷。超福祉の日常を体験しよう展 出展（アウトリーチ活動）
Sep. 2019 - イノベーションジャパン2019 出展（アウトリーチ活動）
Aug. 2019 - さばえものづくり博覧会2018 出展（アウトリーチ活動）
Oct. 2018 - 2017国際ロボット展 出展（アウトリーチ活動）
Nov. 2017 - Japan Robot Week 2016 出展（アウトリーチ活動）
Oct. 2016 - けいはんなビジネスメッセ 出展（アウトリーチ活動）
Oct. 2016 - イノベーションジャパン2016 出展（アウトリーチ活動）
Aug. 2016 - サービスロボット開発技術展2016 出展（アウトリーチ活動）
May 2016