Abstract
In this study, the use of alternative acoustic sensors in human-robot communication is investigated. In particular, a Non-Audible Murmur (NAM) microphone was applied in tele-operating the Geminoid HI-1 robot in noisy environments. The current study introduces the methodology and the results of speech intelligibility subjective tests when a NAM microphone was used in comparison with using a standard microphone. The results show the advantage of using a NAM microphone when the operation takes place in adverse environmental conditions. In addition, the effect of Geminoid's lip movements on speech intelligibility is also investigated. Subjective speech intelligibility tests show that the operator's speech can be perceived with higher intelligibility scores when the operator's audio speech is perceived along with the lip movements of robots.
Highlights
To date, many studies have addressed the problem of human‐robot interaction [1]
The Geminoid HI‐1 robot, which was developed at the ATR, Intelligent Robotics and Communication Laboratories, Japan [3, 4], is a tele‐operated anthropomorphic robot designed to be a duplicate of an existing person
The results show that the lip movements of Geminoid have an effect on perceptual scores in both clean and noisy environments
Summary
Many studies have addressed the problem of human‐robot interaction [1]. Components or modalities such as speech, gestures, gaze and others have been used in order to facilitate a natural human‐robot interaction. Particular efforts have been focused on designing and developing human‐like robots [2]. The Geminoid HI‐1 robot, which was developed at the ATR, Intelligent Robotics and Communication Laboratories, Japan [3, 4], is a tele‐operated anthropomorphic robot designed to be a duplicate of an existing person. Since speech is the most natural modality for human‐human communication, in human‐Geminoid interaction speech communication plays an important role. In addition to audio speech, communication is performed by the lip movements of Geminoid
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