{"id":"https://openalex.org/W3093691068","doi":"https://doi.org/10.1109/ro-man47096.2020.9223566","title":"Robust Real-Time Hand Gestural Recognition for Non-Verbal Communication with Tabletop Robot Haru","display_name":"Robust Real-Time Hand Gestural Recognition for Non-Verbal Communication with Tabletop Robot Haru","publication_year":2020,"publication_date":"2020-08-01","ids":{"openalex":"https://openalex.org/W3093691068","doi":"https://doi.org/10.1109/ro-man47096.2020.9223566","mag":"3093691068"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man47096.2020.9223566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002842562","display_name":"Heike Brock","orcid":"https://orcid.org/0000-0002-9530-4714"},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Heike Brock","raw_affiliation_strings":["Honda Research Institute Japan Co., Ltd., Saitama, Japan"],"affiliations":[{"raw_affiliation_string":"Honda Research Institute Japan Co., Ltd., Saitama, Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070868769","display_name":"Selma \u0160abanovi\u0107","orcid":"https://orcid.org/0000-0002-2553-854X"},"institutions":[{"id":"https://openalex.org/I4210119109","display_name":"Indiana University Bloomington","ror":"https://ror.org/02k40bc56","country_code":"US","type":"funder","lineage":["https://openalex.org/I4210119109","https://openalex.org/I4407990318","https://openalex.org/I592451"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Selma Sabanovic","raw_affiliation_strings":["Indiana University at Bloomington (IUB), IN"],"affiliations":[{"raw_affiliation_string":"Indiana University at Bloomington (IUB), IN","institution_ids":["https://openalex.org/I4210119109"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049329632","display_name":"Keisuke Nakamura","orcid":"https://orcid.org/0000-0002-4979-2083"},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keisuke Nakamura","raw_affiliation_strings":["Honda Research Institute Japan Co., Ltd., Saitama, Japan"],"affiliations":[{"raw_affiliation_string":"Honda Research Institute Japan Co., Ltd., Saitama, Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052470310","display_name":"Randy G\u00f3mez","orcid":"https://orcid.org/0000-0002-3191-6818"},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Randy Gomez","raw_affiliation_strings":["Honda Research Institute Japan Co., Ltd., Saitama, Japan"],"affiliations":[{"raw_affiliation_string":"Honda Research Institute Japan Co., Ltd., Saitama, Japan","institution_ids":["https://openalex.org/I1283473643"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.955,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.838942,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":91},"biblio":{"volume":null,"issue":null,"first_page":"891","last_page":"898"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11285","display_name":"Hearing Impairment and Communication","score":0.9975,"subfield":{"id":"https://openalex.org/subfields/3204","display_name":"Developmental and Educational Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9882,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness","score":0.74511826},{"id":"https://openalex.org/keywords/wired-glove","display_name":"Wired glove","score":0.41221935}],"concepts":[{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.88575375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8070965},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.74511826},{"id":"https://openalex.org/C159437735","wikidata":"https://www.wikidata.org/wiki/Q1519524","display_name":"Gesture recognition","level":3,"score":0.6562154},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.57675266},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5712178},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.569588},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.48499653},{"id":"https://openalex.org/C2777087348","wikidata":"https://www.wikidata.org/wiki/Q184848","display_name":"Index finger","level":2,"score":0.47496057},{"id":"https://openalex.org/C145633318","wikidata":"https://www.wikidata.org/wiki/Q207125","display_name":"Nonverbal communication","level":2,"score":0.47323856},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43001062},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.41316056},{"id":"https://openalex.org/C107953548","wikidata":"https://www.wikidata.org/wiki/Q1172433","display_name":"Wired glove","level":3,"score":0.41221935},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39187175},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"score":0.12706909},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C107038049","wikidata":"https://www.wikidata.org/wiki/Q35986","display_name":"Aesthetics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man47096.2020.9223566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.61,"id":"https://metadata.un.org/sdg/4","display_name":"Quality education"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":29,"referenced_works":["https://openalex.org/W1498883201","https://openalex.org/W1977995219","https://openalex.org/W1989291467","https://openalex.org/W2003676323","https://openalex.org/W2004118033","https://openalex.org/W2036765125","https://openalex.org/W2045284424","https://openalex.org/W2046209191","https://openalex.org/W2072419079","https://openalex.org/W2094645604","https://openalex.org/W2127118622","https://openalex.org/W2136556525","https://openalex.org/W2147095743","https://openalex.org/W2152540335","https://openalex.org/W2304729092","https://openalex.org/W2511561981","https://openalex.org/W2592523922","https://openalex.org/W2746508900","https://openalex.org/W2773361032","https://openalex.org/W2791548316","https://openalex.org/W2810100606","https://openalex.org/W2885716646","https://openalex.org/W2913362834","https://openalex.org/W2949520286","https://openalex.org/W2963488642","https://openalex.org/W3090087509","https://openalex.org/W4250700556","https://openalex.org/W4288327876","https://openalex.org/W656852389"],"related_works":["https://openalex.org/W4386025210","https://openalex.org/W4311915485","https://openalex.org/W4226296011","https://openalex.org/W4224291801","https://openalex.org/W4200394088","https://openalex.org/W2602341155","https://openalex.org/W2561989179","https://openalex.org/W2541791370","https://openalex.org/W2185612861","https://openalex.org/W2137067420"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"our":[5],"work":[6],"in":[7,116,144],"close-distance":[8,141],"non-verbal":[9],"communication":[10,143],"with":[11,37],"tabletop":[12],"robot":[13],"Haru":[14],"through":[15],"hand":[16,23,34,117],"gestural":[17,24],"interaction.":[18],"We":[19,124],"implemented":[20],"a":[21,29,51],"novel":[22],"understanding":[25],"system":[26,43,71,127],"by":[27],"training":[28],"machine-learning":[30],"architecture":[31],"for":[32,79],"real-time":[33,140],"gesture":[35,77,118],"recognition":[36,80],"the":[38,48,61,134,145],"Leap":[39],"Motion.":[40],"The":[41],"proposed":[42],"is":[44,72,90],"activated":[45],"based":[46],"on":[47,92],"velocity":[49],"of":[50,81],"user's":[52],"palm":[53],"and":[54,58,110,138],"index":[55],"finger":[56],"movement,":[57],"subsequently":[59],"labels":[60,78],"detected":[62],"movement":[63,86,107],"segments":[64],"under":[65,121,129],"an":[66],"early":[67],"classification":[68,119],"scheme.":[69],"Our":[70,112],"able":[73],"to":[74],"combine":[75],"multiple":[76],"consecutive":[82],"gestures":[83],"without":[84],"clear":[85],"boundaries.":[87],"System":[88],"evaluation":[89],"conducted":[91],"data":[93,131],"simulating":[94],"real":[95],"human-robot":[96],"interaction":[97],"conditions,":[98],"taking":[99],"into":[100],"account":[101],"relevant":[102],"performance":[103,120],"variables":[104],"such":[105],"as":[106],"style,":[108],"timing":[109],"posture.":[111],"results":[113],"show":[114],"robustness":[115],"variant":[122],"conditions.":[123],"furthermore":[125],"examine":[126],"behavior":[128],"sequential":[130],"input,":[132],"paving":[133],"way":[135],"towards":[136],"seamless":[137],"natural":[139],"hand-gestural":[142],"future.":[146]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3093691068","counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1}],"updated_date":"2025-04-16T07:53:43.774077","created_date":"2020-10-29"}