
Gentiane VentureThe University of Tokyo | Todai · Department of Mechanical Engineering
Gentiane Venture
PhD
About
304
Publications
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Introduction
Gentiane Venture is a French Roboticist working in academia in Tokyo. Her research tries to encompass human body dynamics into robot behavior design to achieve personalized human robot interaction. Her work is highly interdisciplinary and she collaborates with psychologists, physiologists, philosophers, neuro-scientists, designers…
Additional affiliations
April 2018 - present
November 2000 - November 2003
November 2000 - November 2003
Publications
Publications (304)
Fatigue plays a critical role in sports science, significantly affecting recovery, training effectiveness, and overall athletic performance. Understanding and predicting fatigue is essential to optimize training, prevent overtraining, and minimize the risk of injuries. The aim of this study is to leverage Human Activity Recognition (HAR) through de...
This study introduces a novel approach to Humanoid Robot Motion Generation using Functional Principal Component Analysis (FPCA) within the framework of Direct Optimal Control (DOC). FPCA efficiently compresses high-dimensional motion data, including ground reaction forces, into a low-dimensional space known as the FPC space. These low-dimensional e...
Behavioral analyses of in-the-wild HRI studies generally rely on interviews or visual information from videos. This can be very limiting in settings where video recordings are not allowed or limited. We designed and tested a vocalization-based protocol to analyze in-the-wild child–robot interactions based upon a behavioral coding scheme utilized in...
Anticipating a future scenario where the robot initiates its own actions and behaves voluntarily when collaborating with humans, our research focuses on human understanding and perception of unanticipated robot actions during physical human-robot interaction. While the current literature searches for key factors that make the human-robot collaborat...
This paper presents a model for generating expressive robot motions based on human expressive movements. The proposed data-driven approach combines variational autoencoders and a generative adversarial network framework to extract the essential features of human expressive motion and generate expressive robot motion accordingly. The primary objecti...
Online driving style recognition can enhance the customization of human-centric driving systems, thereby improving comfort, safety, and fuel economy. However, the limited performance of automotive-grade chips makes it highly challenging to compile and run complicated algorithms in real time. To overcome this bottleneck, this paper proposes an embed...
Imitation learning offers a pathway for robots to perform repetitive tasks, allowing humans to focus on more engaging and meaningful activities. However, challenges arise from the need for extensive demonstrations and the disparity between training and real-world environments. This paper focuses on contact-rich tasks like wiping with soft and defor...
This work introduces a model to personalize ‘robjects’ - everyday objects with embedded robotic capabilities - using deep reinforcement learning (RL). The method creates user mood maps from emotional states and environmental conditions, allowing the robot to convey its status via light and movement. Two RL agents, with distinct reward systems, are...
This article presents the Network Empower and Prototyping Platform (NEP+), a flexible framework purposefully crafted to simplify the process of interactive application development, catering to both technical and non-technical users. The name "NEP+" encapsulates the platform’s dual mission: to empower the network-related capabilities of ZeroMQ and t...
This paper explores using natural materials such as cellulose fibers in developing robot parts due to their renewable and sustainable nature and excellent mechanical properties. We demonstrate the potential of cellulose fibers in developing robot structural components. However, challenges remain in developing cellulose-based robot parts, including...
The rise of single-person households coupled with a drop in social interaction due to the coronavirus disease 2019 (COVID-19) pandemic is triggering a loneliness pandemic. This social issue is producing mental health conditions (e.g., depression and stress) not only in the elderly population but also in young adults. In this context, social robots...
This article provides a systematic review of research articles on pedestrians and cyclists’ intention recognition to be integrated into autonomous vehicles, especially for decision making and motion planning. We firstly describe why the intention recognition of pedestrians and cyclists is suitable and necessary for autonomous vehicles and why they...
Dans le cadre d'une thèse et d'un projet de recherche pluridisciplinaire visant à renforcer le lien entre les membres d'un couple de jeunes retraités, nous avons imaginé et conçu Yōkobo, un robot à la croisée d'une approche sensible et d'une orientation de la robotique qui fait le pont entre les humains (domaine des Interactions Homme-Robot-Homme)....
En el marco de una investigación multidisciplinar y un proyecto de doctorado, hemos ideado y diseñado Yōkobo para reforzar la conexión entre parejas de jubilados que viven en casa. Se trata de un robot programado con un acercamiento sensible y, al mismo tiempo, una propuesta robótica que tiende puentes entre los humanos (interacciones humano-robot-...
As part of a multidisciplinary research and a PhD project to strengthen the connection between retired couples living at home, we imagined and designed Yōkobo. It is a robot at the crossroads of a sensitive approach and a robotic trend that bridges the gap between humans (Human-Robot-Human Interactions field). As a theoretical contribution, Yōkobo...
Robots able to coexist and interact with humans are key elements for Society 5.0. To produce the right expectations towards robots, it will be necessary to expose the true current capabilities of robots to the general public. In this context, Human–Robot Interaction (HRI) in the wild emerges as a relevant paradigm. In this article, we affront the c...
In human–robot interaction (HRI), sharing emotions between the human and robot is one of the most important elements. However, market trends suggest that being able to perform productive tasks is more important than being able to express emotions in order for robots to be more accepted by society. In this study, we introduce a method of conveying e...
Yōkobo is a robject; it was designed using the principle of slow technology and it aims to strengthen the bond between members (e.g., a couple). It greets people at the entrance and mirrors their interactions and the environment around them. It was constructed by applying the notions of a human–robot–human interaction. Created by joint work between...
In this work-in-progress paper, we describe the architecture of a system that can automatically sense an online learner’s situation and context (affective-cognitive state, fatigue, cognitive load, and physical environment), analyse the needs for intervention, and react through an intelligent agent to shape the learner’s self-regulated learning stra...
Motor rehabilitation is used to improve motor control skills to improve the patient’s quality of life. Regular adjustments based on the effect of therapy are necessary, but this can be time-consuming for the clinician. This study proposes to use an efficient tool for high-dimensional data by considering a deep learning approach for dimensionality r...
Feeling together and at the same time feeling free while sharing the same roof is a balance that newly retired couples try to reach. Indeed the beginning of retirement is complex, and sometimes, even when both spouses find themselves at home together, some spouses could experience a feeling of loneliness. To respond to this insight, we introduce th...
Socially interactive robots are being introduced in daily life as common objects that facilitate people’s life. A wide range of possibilities are offered and the trends show a growing market. In this survey 40 commercial robots were analysed to evaluate the state of the art from a design space perspective, aspects like embodiment, task, social role...
Industry 5.0 constitutes a change of paradigm where the increase of economic benefits caused by a never-ending increment of production is no longer the only priority. Instead, Industry 5.0 addresses social and planetary challenges caused or neglected in Industry 4.0 and below. One relevant the most relevant challenges of Industry 5.0 is the design...
Robotic feet play a fundamental role in the walking performance of a biped robot. Feet are essential to maintain dynamic stability and to propel the body during walking. They may ensure stability on uneven terrains. Yet, complex feet are seldom used on humanoids. This paper surveys 36 types of robotic feet we found in the literature. We classified...
Unanticipated physical actions from the robot on humans [active physical human–robot interaction (pHRI)] may be inevitable with the deployment of robots in human-populated environments. However, it is still unclear how humans would perceive such actions and how the robot should execute them in a physically and psychologically safe manner. The objec...
Due to the social and technological background, the number of robots that can coexist with humans and perform autonomous navigation is increasing. In order to facilitate the implementation of robots in society, it is necessary to increase the comfort level of autonomous navigation. However, conventional autonomous navigation without human recogniti...
In the future, in a society where robots and humans live together, HRI is an important field of research. While most human–robot-interaction (HRI) studies focus on appearance and dialogue, touch-communication has not been the focus of many studies despite the importance of its role in human–human communication. This paper investigates how and where...
We present and validate a method to detect surface cracks with visual and tactile sensing. The proposed algorithm localises cracks in remote environments through videos/photos taken by an on-board robot camera. The identified areas of interest are then explored by a robot with a tactile sensor. Faster R-CNN object detection is used for identifying...
This article provides a systematic review of research articles applying Kansei / Affective Engineering methodologies for the development of Social and Service Robots. We describe relevant concepts and main types of Kansei Engineering methodologies to assist new researchers and practitioners interested in the area. We also summarize the main objecti...
This study investigates the possibility of estimating lower-limb joint kinematics and meaningful performance indexes for physiotherapists, during gait on a treadmill based on data collected from a sparse placement of new Visual Inertial Measurement Units (VIMU) and the use of an Extended Kalman Filter (EKF). The proposed EKF takes advantage of the...
Fatigue increases the risk of injury during sports training and rehabilitation. Early detection of fatigue during exercises would help adapt the training in order to prevent over-training and injury. This study lays the foundation for a data-driven model to automatically predict the onset of fatigue and quantify consequent fatigue changes using a f...
Studying interactions of children with humanoid robots in familiar spaces in natural contexts has become a key issue for social robotics. To fill this need, we conducted several Child–Robot Interaction (CRI) events with the Pepper robot in Polish and Japanese kindergartens. In this paper, we explore the role of trust and expectations towards the ro...
In an effort towards the democratization of Robotics, this article presents a novel End-User Development framework called Robot Interfaces From Zero Experience (RIZE). The framework provides a set of useful software tools for the creation of robot-oriented software architectures and programming interfaces, as well as the modeling and execution of r...
Robots are increasingly being deployed in public spaces. However, the general population rarely has the opportunity to nominate what they would prefer or expect a robot to do in these contexts. Since most people have little or no experience interacting with a robot, it is not surprising that robots deployed in the real world may fail to gain accept...
Analysis of human gait to detect walking abnormality has recently gained growing interest. It carries profound impact in medical diagnosis and rehabilitation engineering. In this study we have explored different regression modeling techniques to detect pathological gait. Inexpensive Microsoft Kinect (V2) sensor was used for data acquisition. Compar...
This book highlights the latest innovations and applications in robotics, as presented by leading international researchers and engineers at the ROMANSY 2020, the 23rd CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators. The ROMANSY symposium is the first established conference that focuses on robotics theory and research, rathe...
Clinical gait analysis using electromyography (EMG) sensor is an important area of research to explore in the field of healthcare applications. Various expensive EMG sensors are available to record and analyze gait data for abnormality detection. A novel approach with cost-effective EMG sensor has been discussed to provide a possible solution for g...
Motion sensors are crucial for clinical gait analysis. Existing high-end gold standard sensors are expensive and nonaffordable for most of the clinics. As an alternative, low-cost sensor-based approaches are now becoming popular. These sensors have their own advantages and limitations. This chapter presents an elaborate discussion on some popular l...
Pathological gait pattern assessment using wearable sensors remains a major challenge in clinical gait analysis and rehabilitation field. In this chapter, we discuss step-by-step process of collection and processing of inertial sensor signals and modeling with machine learning techniques to automate the process of neurological disorder identificati...
Gait assessment tools help the clinicians to analyze the walking pattern by visual inspection. They can monitor the progression of gait and extract the targeted features. Automatic analysis of the extracted features is also possible through these tools. Such applications constructed using low-cost sensors are of high need.
Clinicians assess gait data using different measurement techniques before reporting the present status of a patient. Those assessment techniques can be broadly divided into groups; statistical and computational intelligence. Both of the methods come up with their advantages and disadvantages. This chapter briefly discusses those aspects.
Musculoskeletal injuries are one of the most common injuries that can lead to long-term disabilities. In this chapter, along with brief descriptions of the major musculoskeletal injuries in the lower limb muscles and about the various causes and treatments of these musculoskeletal injuries, we highlight the motion sensor-based solutions for prevent...
To make cost-effective sensors agreeable for clinical use, it is important to validate the sensors against standard motion sensors used for gait assessment. This chapter discusses the validation studies present in literature for low-cost sensors such as Kinect, IMU. Most of these validations are carried out with respect to three-dimensional motion...
Different types of therapeutic interventions are provided to patients to improve their motor functions. Activity of daily life gets improved by adopting these interventions at regular intervals. Different artificial environments can be created using Kinect for these interventions. Recently, some low-cost wearable sensor-based approaches are observe...
Segmentation of a gait cycle is an important issue to perform sub-phase wise assessment. It is performed by identifying some crucial gait events. Generally, manual annotation is followed in clinics to detect events. But, it is laborious and prone to error. On contrary, machine intelligence–based automatic event detection systems are gradually becom...
Detection of pathological gait and analyze it quantitatively is vital for different clinical purposes. Moreover, a low-cost solution on this problem is an urgent need for the modern society. This chapter provides a detail description of the existing methodologies for gait diagnosis, especially using affordable sensors.
It is highly likely that classrooms of the future will feature robots to assist the human teachers. Tutor robots will be valued for their capacity to motivate learners and to provide affective support during learning activities, which will require from them to be able to understand the students' affects and behaviours, and to respond to these throu...
The population working in agriculture in Japan is decreasing, and the aging of the population is progressing. In order to reduce injuries caused by harsh labor such as agriculture, this research investigates the actual posture of farmers and proposes the development of a traction power assistive suit with wire that can be used when carrying heavy o...
With the development of technology, opportunities for humans and autonomous mobile robots to coexist in various forms are increasing regardless of the fields. Under these circumstances, needs to improve the comfort of coexisting with autonomous mobile robots arise. However, conventional autonomous navigation that do not recognize humans include ele...
Due to globalization, the number of businesses between foreign countries has increased. Because of this, many companies are promoting telework as a way to work in different locations around the world. As a part of telework, telepresence robots are expected to be used more widely. However, commercial telepresence robots now available, have no arms o...
Social robots acting as stand-ins for speakers or teachers would
enable them to reach large audiences from anywhere in the world,
increasing the options for distant learning. They would need to be
endowed with effective public speaking skills though, in order to
deliver their message, entertain, and maintain audience attention.
In this paper, we re...
People are increasingly encountering robots in public spaces, but they rarely have input into how such technology is conceived or deployed. To familiarise and engage the general public with new robot technology, we present a novel co-design workshop methodology with a three-phased structure: open discussion, participatory prototyping, and follow-up...
This article presents a novel approach for interfacing MATLAB and Octave programs with Robotics and Internet of Things (IoT) software modules. The proposed library, developed in Java, is part of NEP, an open and cross-platform distributed robotic framework. This library is a high-performance and cross-platform alternative that enables developers to...
Inverse Optimal Control (IOC) is a useful technique to estimate the importance of cost functions used to optimally control a system by observing its motion. The computational cost of IOC increases with the complexity of the system. This study aims at analyzing a complex multiple joint motion and estimating weights of the cost functions easily in a...
In future robotic applications in environments such as nursing houses, construction sites, private homes, etc, robots might need to take unpredicted physical actions according to the state of the users to overcome possible human errors. Referring to these actions as active physical human-robot interactions (
active pHRI
), in this letter, the goal...
Service robots are increasingly common. Studies show that the appearance and behavior of robots influence users’ impressions. Developers need to know whether users’ impressions of robots are in accordance with the purpose they designed or not. To assess such impressions, it is necessary for participants to meet robots in a real-world setting. Such...
Robots are becoming interactive and robust enough to be adopted outside laboratories and in industrial scenarios as well as interacting with humans in social activities. However, the design of engaging robot-based applications requires the availability of usable, flexible and accessible development frameworks, which can be adopted and mastered by r...