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Kristoffersson, AnnicaORCID iD iconorcid.org/0000-0002-4368-4751
Publications (10 of 39) Show all publications
Krishna, S., Kristoffersson, A., Kiselev, A. & Loutfi, A. (2019). Estimating Optimal Placement for a Robot in Social Group Interaction. In: RO-MAN: . Paper presented at The 28th IEEE International Conference on Robot and Human Interactive Communication – RO-MAN 2019, New Delhi, India, October 14-18, 2019.. IEEE, 28, Article ID 0172.
Open this publication in new window or tab >>Estimating Optimal Placement for a Robot in Social Group Interaction
2019 (English)In: RO-MAN, IEEE, 2019, Vol. 28, article id 0172Conference paper, Oral presentation with published abstract (Refereed)
Abstract [en]

In this paper, we present a model to propose anoptimal placement for a robot in a social group interaction. Ourmodel estimates the O-space according to the F-formation theory. The method automatically calculates a suitable placementfor the robot. An evaluation of the method has been performedby conducting an experiment where participants stand in differ-ent formations and a robot is teleoperated to join the group. Inone condition, the operator positions the robot according to thespecified location given by our algorithm. In another condition,operators have the freedom to position the robot according totheir personal choice. Follow-up questionnaires were performedto determine which of the placements were preferred by theparticipants. The results indicate that the proposed methodfor automatic placement of the robot is supported from theparticipants. The contribution of this work resides in a novelmethod to automatically estimate the best placement of therobot, as well as the results from user experiments to verify thequality of this method. These results suggest that teleoperatedrobots such as mobile robot telepresence systems could benefitfrom tools that assist operators in placing the robot in groupsin a socially accepted manner.

Place, publisher, year, edition, pages
IEEE, 2019
Keywords
F-formations;Robot Positioning Spot; Mobile Robotic Telepresence; HRI
National Category
Engineering and Technology
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-78832 (URN)
Conference
The 28th IEEE International Conference on Robot and Human Interactive Communication – RO-MAN 2019, New Delhi, India, October 14-18, 2019.
Projects
Successful Ageing
Available from: 2019-12-20 Created: 2019-12-20 Last updated: 2019-12-20
Krishna, S., Kristoffersson, A., Kiselev, A. & Loutfi, A. (2019). F-Formations for Social Interaction in Simulation Using Virtual Agents and Mobile Robotic Telepresence Systems. Multimodal Technologies and Interaction, 3(4), Article ID 69.
Open this publication in new window or tab >>F-Formations for Social Interaction in Simulation Using Virtual Agents and Mobile Robotic Telepresence Systems
2019 (English)In: Multimodal Technologies and Interaction, ISSN 2414-4088, Vol. 3, no 4, article id 69Article in journal (Refereed) Published
Abstract [en]

F-formations are a set of possible patterns in which groups of people tend to spatially organize themselves while engaging in social interactions. In this paper, we study the behavior of teleoperators of mobile robotic telepresence systems to determine whether they adhere to spatial formations when navigating to groups. This work uses a simulated environment in which teleoperators are requested to navigate to different groups of virtual agents. The simulated environment represents a conference lobby scenario where multiple groups of Virtual Agents with varying group sizes are placed in different spatial formations. The task requires teleoperators to navigate a robot to join each group using an egocentric-perspective camera. In a second phase, teleoperators are allowed to evaluate their own performance by reviewing how they navigated the robot from an exocentric perspective. The two important outcomes from this study are, firstly, teleoperators inherently respect F-formations even when operating a mobile robotic telepresence system. Secondly, teleoperators prefer additional support in order to correctly navigate the robot into a preferred position that adheres to F-formations.

Place, publisher, year, edition, pages
MDPI, 2019
Keywords
telepresence, mobile robotic telepresence, F-formations, simulation, virtual agents, HRI
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-78830 (URN)10.3390/mti3040069 (DOI)
Note

Funding Agency:

Örebro University

Available from: 2019-12-20 Created: 2019-12-20 Last updated: 2020-01-07Bibliographically approved
Kristoffersson, A., Ulfvarson, J. & Loutfi, A. (2019). Teknik i hemmet - tekniska förutsättningar (1ed.). In: Mirjam Ekstedt & Maria Flink (Ed.), Hemsjukvård: olika perspektiv på trygg och säker vård (pp. 396-421). Liber
Open this publication in new window or tab >>Teknik i hemmet - tekniska förutsättningar
2019 (Swedish)In: Hemsjukvård: olika perspektiv på trygg och säker vård / [ed] Mirjam Ekstedt & Maria Flink, Liber, 2019, 1, p. 396-421Chapter in book (Other (popular science, discussion, etc.))
Abstract [sv]

I och med den fjärde industriella revolutionen – Industri 4.0 – kommer en nygeneration av teknik att finnas tillgänglig. Det förutspås att robotik och virtualreality kommer att transformera inte bara arbetsplatser utan även utvecklaandra domäner, såsom smarta städer och möjligheten till livsstils- och hälsomonitoreringhemma.Antalet tillgängliga konsument- och medicintekniska produkter ökar irask takt. Hälso- och sjukvårdssystemet ställs inför utmaningar, såsom behovetav att utveckla verktyg för att hantera ny teknologi men också att förändraarbetsprocesser och anpassa organisationen för att kunna hantera teknologin.

Det här kapitlet ger en översikt över kommande teknologier, förslag på hurteknologi kan användas i hemmiljöer, en översikt över hur sådan teknik utvärderatssamt inte minst en reflektion kring hur dessa teknologier kan harmoniseramed nuvarande organisatoriska processer.

Place, publisher, year, edition, pages
Liber, 2019 Edition: 1
Keywords
E-hälsa, Välfärdsteknologi, Smarta hem
National Category
Gerontology, specialising in Medical and Health Sciences Other Health Sciences Computer Sciences
Research subject
Computer Science; Caring sciences
Identifiers
urn:nbn:se:oru:diva-73447 (URN)978-91-47-11277-7 (ISBN)
Available from: 2019-04-02 Created: 2019-04-02 Last updated: 2019-04-02Bibliographically approved
Akalin, N., Kiselev, A., Kristoffersson, A. & Loutfi, A. (2018). Enhancing Social Human-Robot Interaction with Deep Reinforcement Learning.. In: Proc. FAIM/ISCA Workshop on Artificial Intelligence for Multimodal Human Robot Interaction, 2018: . Paper presented at FAIM/ISCA Workshop on Artificial Intelligence for Multimodal Human Robot Interaction (AI-MHRI), Stockholm, Sweden 14-15 July, 2018 (pp. 48-50). MHRI
Open this publication in new window or tab >>Enhancing Social Human-Robot Interaction with Deep Reinforcement Learning.
2018 (English)In: Proc. FAIM/ISCA Workshop on Artificial Intelligence for Multimodal Human Robot Interaction, 2018, MHRI , 2018, p. 48-50Conference paper, Published paper (Refereed)
Abstract [en]

This research aims to develop an autonomous social robot for elderly individuals. The robot will learn from the interaction and change its behaviors in order to enhance the interaction and improve the user experience. For this purpose, we aim to use Deep Reinforcement Learning. The robot will observe the user’s verbal and nonverbal social cues by using its camera and microphone, the reward will be positive valence and engagement of the user.

Place, publisher, year, edition, pages
MHRI, 2018
National Category
Robotics
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-68709 (URN)10.21437/AI-MHRI.2018-12 (DOI)
Conference
FAIM/ISCA Workshop on Artificial Intelligence for Multimodal Human Robot Interaction (AI-MHRI), Stockholm, Sweden 14-15 July, 2018
Projects
SOCRATES
Available from: 2018-09-03 Created: 2018-09-03 Last updated: 2018-09-04Bibliographically approved
Akalin, N., Kiselev, A., Kristoffersson, A. & Loutfi, A. (2018). The Relevance of Social Cues in Assistive Training with a Social Robot. In: Ge, S.S., Cabibihan, J.-J., Salichs, M.A., Broadbent, E., He, H., Wagner, A., Castro-González, Á. (Ed.), 10th International Conference on Social Robotics, ICSR 2018, Proceedings: . Paper presented at 10th International Conference on Social Robotics (ICSR 2018), Qingdao, China, November 28-30, 2018 (pp. 462-471). Springer
Open this publication in new window or tab >>The Relevance of Social Cues in Assistive Training with a Social Robot
2018 (English)In: 10th International Conference on Social Robotics, ICSR 2018, Proceedings / [ed] Ge, S.S., Cabibihan, J.-J., Salichs, M.A., Broadbent, E., He, H., Wagner, A., Castro-González, Á., Springer, 2018, p. 462-471Conference paper, Published paper (Refereed)
Abstract [en]

This paper examines whether social cues, such as facial expressions, can be used to adapt and tailor a robot-assisted training in order to maximize performance and comfort. Specifically, this paper serves as a basis in determining whether key facial signals, including emotions and facial actions, are common among participants during a physical and cognitive training scenario. In the experiment, participants performed basic arm exercises with a social robot as a guide. We extracted facial features from video recordings of participants and applied a recursive feature elimination algorithm to select a subset of discriminating facial features. These features are correlated with the performance of the user and the level of difficulty of the exercises. The long-term aim of this work, building upon the work presented here, is to develop an algorithm that can eventually be used in robot-assisted training to allow a robot to tailor a training program based on the physical capabilities as well as the social cues of the users.

Place, publisher, year, edition, pages
Springer, 2018
Series
Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349 ; 11357
Keywords
Social cues, Facial signals, Robot-assisted training
National Category
Computer Systems Computer Vision and Robotics (Autonomous Systems)
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-70817 (URN)10.1007/978-3-030-05204-1_45 (DOI)2-s2.0-85058342671 (Scopus ID)978-3-030-05203-4 (ISBN)978-3-030-05204-1 (ISBN)
Conference
10th International Conference on Social Robotics (ICSR 2018), Qingdao, China, November 28-30, 2018
Projects
SOCRATES
Funder
EU, Horizon 2020, 721619
Available from: 2018-12-19 Created: 2018-12-19 Last updated: 2018-12-20Bibliographically approved
Akalin, N., Kiselev, A., Kristoffersson, A. & Loutfi, A. (2017). An Evaluation Tool of the Effect of Robots in Eldercare on the Sense of Safety and Security. In: Kheddar, Abderrahmane; Yoshida, Eiichi; Ge, Shuzhi Sam; Suzuki, Kenji; Cabibihan, John-John; Eyssel, Friederike; He, Hongsheng (Ed.), Kheddar, A.; Yoshida, E.; Ge, S.S.; Suzuki, K.; Cabibihan, J-J:, Eyssel, F:, He, H. (Ed.), Social Robotics: 9th International Conference, ICSR 2017, Tsukuba, Japan, November 22-24, 2017, Proceedings. Paper presented at 9th International Conference on Social Robotics (ICSR 2017), Tsukuba, Japan, November 22-24, 2017 (pp. 628-637). Springer International Publishing
Open this publication in new window or tab >>An Evaluation Tool of the Effect of Robots in Eldercare on the Sense of Safety and Security
2017 (English)In: Social Robotics: 9th International Conference, ICSR 2017, Tsukuba, Japan, November 22-24, 2017, Proceedings / [ed] Kheddar, A.; Yoshida, E.; Ge, S.S.; Suzuki, K.; Cabibihan, J-J:, Eyssel, F:, He, H., Springer International Publishing , 2017, p. 628-637Conference paper, Published paper (Refereed)
Abstract [en]

The aim of the study presented in this paper is to develop a quantitative evaluation tool of the sense of safety and security for robots in eldercare. By investigating the literature on measurement of safety and security in human-robot interaction, we propose new evaluation tools. These tools are semantic differential scale questionnaires. In experimental validation, we used the Pepper robot, programmed in the way to exhibit social behaviors, and constructed four experimental conditions varying the degree of the robot’s non-verbal behaviors from no gestures at all to full head and hand movements. The experimental results suggest that both questionnaires (for the sense of safety and the sense of security) have good internal consistency.

Place, publisher, year, edition, pages
Springer International Publishing, 2017
Series
Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349 ; 10652
Keywords
Sense of safety, Sense of security, Eldercare, Video-based evaluation, Quantitative evaluation tool
National Category
Computer Systems Computer Vision and Robotics (Autonomous Systems)
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-62768 (URN)10.1007/978-3-319-70022-9_62 (DOI)000449941100062 ()2-s2.0-85035814295 (Scopus ID)978-3-319-70022-9 (ISBN)978-3-319-70021-2 (ISBN)
Conference
9th International Conference on Social Robotics (ICSR 2017), Tsukuba, Japan, November 22-24, 2017
Projects
SOCRATES
Funder
EU, Horizon 2020, 721619
Available from: 2017-11-22 Created: 2017-11-22 Last updated: 2018-11-23Bibliographically approved
Alirezaie, M., Renoux, J., Köckemann, U., Kristoffersson, A., Karlsson, L., Blomqvist, E., . . . Loutfi, A. (2017). An Ontology-based Context-aware System for Smart Homes: E-care@home. Sensors, 17(7), Article ID 1586.
Open this publication in new window or tab >>An Ontology-based Context-aware System for Smart Homes: E-care@home
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2017 (English)In: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 17, no 7, article id 1586Article in journal, Editorial material (Refereed) Published
Abstract [en]

Smart home environments have a significant potential to provide for long-term monitoring of users with special needs in order to promote the possibility to age at home. Such environments are typically equipped with a number of heterogeneous sensors that monitor both health and environmental parameters. This paper presents a framework called E-care@home, consisting of an IoT infrastructure, which provides information with an unambiguous, shared meaning across IoT devices, end-users, relatives, health and care professionals and organizations. We focus on integrating measurements gathered from heterogeneous sources by using ontologies in order to enable semantic interpretation of events and context awareness. Activities are deduced using an incremental answer set solver for stream reasoning. The paper demonstrates the proposed framework using an instantiation of a smart environment that is able to perform context recognition based on the activities and the events occurring in the home.

Place, publisher, year, edition, pages
Basel: MDPI AG, 2017
Keywords
ambient assisted living; context awareness; Internet of Things; ontologies; activity recognition; smart homes
National Category
Computer Systems
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-58600 (URN)10.3390/s17071586 (DOI)000407517600125 ()2-s2.0-85021911117 (Scopus ID)
Projects
E-Care@Home
Funder
Knowledge Foundation
Available from: 2017-07-07 Created: 2017-07-07 Last updated: 2017-10-24Bibliographically approved
Prytz, E., Kristoffersson, A., Lindén, M., Petrovic, N., Ahmed, M. U. & Lind, L. (2016). E-care@home: Initial Usability Considerations. In: Abstractproceedings from Medicinteknikdagarna 2016: . Paper presented at Medicinteknikdagarna 2016, Örebro, Sweden, 5-6 Oktober, 2016.
Open this publication in new window or tab >>E-care@home: Initial Usability Considerations
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2016 (English)In: Abstractproceedings from Medicinteknikdagarna 2016, 2016Conference paper, Poster (with or without abstract) (Other academic)
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-52872 (URN)
Conference
Medicinteknikdagarna 2016, Örebro, Sweden, 5-6 Oktober, 2016
Available from: 2016-10-10 Created: 2016-10-10 Last updated: 2018-08-31Bibliographically approved
Orlandini, A., Kristoffersson, A., Almquist, L., Björkman, P., Cesta, A., Cortellessa, G., . . . Coradeschi, S. (2016). ExCITE Project: A Review of Forty-Two Months of Robotic Telepresence Technology. Presence - Teleoperators and Virtual Environments, 25(3), 204-221
Open this publication in new window or tab >>ExCITE Project: A Review of Forty-Two Months of Robotic Telepresence Technology
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2016 (English)In: Presence - Teleoperators and Virtual Environments, ISSN 1054-7460, E-ISSN 1531-3263, Vol. 25, no 3, p. 204-221Article in journal (Refereed) Published
Abstract [en]

This article reports on the EU project ExCITE with specific focus on the technical development of the telepresence platform over a period of 42 months. The aim of the project was to assess the robustness and validity of the mobile robotic telepresence (MRP) system Giraff as a means to support elderly people and to foster their social interaction and participation. Embracing the idea of user-centered product refinement, the robot was tested over long periods of time in real homes. As such, the system development was driven by a strong involvement of elderly people and their caregivers but also by technical challenges associated with deploying the robot in real-world contexts. The results of the 42-months’ long evaluation is a system suitable for use in homes rather than a generic system suitable, for example, in office environments.

Place, publisher, year, edition, pages
Cambridge, USA: MIT Press, 2016
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-55144 (URN)10.1162/PRES_a_00262 (DOI)000395117300002 ()2-s2.0-85011585315 (Scopus ID)
Projects
ExCITE
Note

Funding Agency:

EU AAL-2009-2-125

Available from: 2017-02-01 Created: 2017-02-01 Last updated: 2018-07-23Bibliographically approved
Kristoffersson, A., Kolkowska, E. & Ernestam, I. (2016). Lessons learned on factors to consider in testbedding: Smarta Äldre. In: Abstractproceedings from Medicinteknikdagarna 2016: . Paper presented at Medicinteknikdagarna 2016, Örebro, Sweden, 5-6 Oktober, 2016.
Open this publication in new window or tab >>Lessons learned on factors to consider in testbedding: Smarta Äldre
2016 (English)In: Abstractproceedings from Medicinteknikdagarna 2016, 2016Conference paper, Oral presentation with published abstract (Other academic)
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-52870 (URN)
Conference
Medicinteknikdagarna 2016, Örebro, Sweden, 5-6 Oktober, 2016
Available from: 2016-10-10 Created: 2016-10-10 Last updated: 2018-01-14Bibliographically approved
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Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-4368-4751

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