{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,22]],"date-time":"2026-01-22T22:24:50Z","timestamp":1769120690328,"version":"3.49.0"},"reference-count":66,"publisher":"Association for Computing Machinery (ACM)","issue":"2","license":[{"start":{"date-parts":[[2019,6,8]],"date-time":"2019-06-08T00:00:00Z","timestamp":1559952000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/501100000038","name":"NSERC","doi-asserted-by":"crossref","award":["Strategic Partnership Grant 479149-2015"],"award-info":[{"award-number":["Strategic Partnership Grant 479149-2015"]}],"id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100005416","name":"Research Council of Norway","doi-asserted-by":"crossref","award":["Centres of Excellence scheme grant 262762"],"award-info":[{"award-number":["Centres of Excellence scheme grant 262762"]}],"id":[{"id":"10.13039\/501100005416","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2019,6,30]]},"abstract":"<jats:p>In recent years, researchers have explored human body posture and motion to control robots in more natural ways. These interfaces require the ability to track the body movements of the user in three dimensions. Deploying motion capture systems for tracking tends to be costly and intrusive and requires a clear line of sight, making them ill adapted for applications that need fast deployment. In this article, we use consumer-grade armbands, capturing orientation information and muscle activity, to interact with a robotic system through a state machine controlled by a body motion classifier. To compensate for the low quality of the information of these sensors, and to allow a wider range of dynamic control, our approach relies on machine learning. We train our classifier directly on the user to recognize (within minutes) which physiological state his or her body motion expresses. We demonstrate that on top of guaranteeing faster field deployment, our algorithm performs better than all comparable algorithms, and we detail its configuration and the most significant features extracted. As the use of large groups of robots is growing, we postulate that their interaction with humans can be eased by our approach. We identified the key factors to stimulate engagement using our system on 27 participants, each creating his or her own set of expressive motions to control a swarm of desk robots. The resulting unique dataset is available online together with the classifier and the robot control scripts.<\/jats:p>","DOI":"10.1145\/3323213","type":"journal-article","created":{"date-parts":[[2019,6,10]],"date-time":"2019-06-10T12:10:51Z","timestamp":1560168651000},"page":"1-26","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":20,"title":["Engaging with Robotic Swarms"],"prefix":"10.1145","volume":"8","author":[{"given":"David","family":"St-Onge","sequence":"first","affiliation":[{"name":"MISTLab, Department of Computer Engineering and Software Engineering, \u00c9cole Polytechnique de Montr\u00e9al, Montreal, QC, Canada"}]},{"given":"Ulysse","family":"C\u00f4t\u00e9-Allard","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Laval University, QC, Canada"}]},{"given":"Kyrre","family":"Glette","sequence":"additional","affiliation":[{"name":"RITMO, Department of Informatics, University of Oslo, Blindern, Oslo, Norway"}]},{"given":"Benoit","family":"Gosselin","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Laval University, QC, Canada"}]},{"given":"Giovanni","family":"Beltrame","sequence":"additional","affiliation":[{"name":"MISTLab, Department of Computer Engineering and Software Engineering, \u00c9cole Polytechnique de Montr\u00e9al, Montreal, QC, Canada"}]}],"member":"320","published-online":{"date-parts":[[2019,6,8]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.1006\/cviu.1998.0744"},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10044-008-0112-3"},{"key":"e_1_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2010.2045120"},{"key":"e_1_2_2_4_1","doi-asserted-by":"crossref","unstructured":"L. A. Blom and L. T. Chaplin. 1982. The Intimate Act of Choreography. University of Pittsburgh Press.  L. A. Blom and L. T. Chaplin. 1982. The Intimate Act of Choreography. University of Pittsburgh Press.","DOI":"10.2307\/j.ctt5hjqp1"},{"key":"e_1_2_2_5_1","doi-asserted-by":"publisher","DOI":"10.5898\/JHRI.5.1.Brown"},{"key":"e_1_2_2_6_1","first-page":"3","article-title":"A hybrid motion classification approach for EMG-based human--robot interfaces using Bayesian and neural networks","volume":"25","author":"Bu N.","year":"2009","journal-title":"IEEE Trans. Robot."},{"key":"e_1_2_2_7_1","first-page":"106","article-title":"Ten common misunderstandings, misconceptions, persistent myths and urban legends about likert scales and likert response formats and their antidotes","volume":"3","author":"Carifio James","year":"2007","journal-title":"J. Soc. Sci."},{"key":"e_1_2_2_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2004.824698"},{"key":"e_1_2_2_9_1","first-page":"781","article-title":"Natural human-robot musical interaction: Understanding the music conductor gestures by using the WB-4 inertial measurement system","volume":"28","author":"Cosentino Sarah","year":"2014","journal-title":"Adv. Robot."},{"key":"e_1_2_2_10_1","volume-title":"Alexandre Drouin, Alexandre Campeau-Lecours, Cl\u00e9ment Gosselin, Kyrre Glette, Fran\u00e7ois Laviolette, and Benoit Gosselin.","author":"C\u00f4t\u00e9-Allard Ulysse","year":"2019"},{"key":"e_1_2_2_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759384"},{"key":"e_1_2_2_12_1","volume-title":"Laban Movement Analysis\u2014Scaffolding Human Movement to Multiply Possibilities and Choices","author":"de Souza Angela Loureiro"},{"key":"e_1_2_2_13_1","doi-asserted-by":"publisher","DOI":"10.1145\/3027063.3053220"},{"key":"e_1_2_2_14_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11227-010-0541-9"},{"key":"e_1_2_2_15_1","doi-asserted-by":"publisher","DOI":"10.1037\/0033-295X.99.3.550"},{"key":"e_1_2_2_16_1","volume-title":"Giese","author":"Endres Dominik","year":"2016"},{"key":"e_1_2_2_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2016.7502665"},{"key":"e_1_2_2_18_1","volume-title":"Proceedings of the International Conference on Machine Learning. 1050--1059","author":"Gal Yarin","year":"2016"},{"key":"e_1_2_2_19_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-55146-8_25"},{"key":"e_1_2_2_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2119910"},{"key":"e_1_2_2_21_1","doi-asserted-by":"publisher","DOI":"10.1145\/2984511.2984547"},{"key":"e_1_2_2_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2015.123"},{"key":"e_1_2_2_23_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12193-014-0173-0"},{"key":"e_1_2_2_24_1","doi-asserted-by":"publisher","DOI":"10.1162\/neco.1997.9.8.1735"},{"key":"e_1_2_2_25_1","volume-title":"Proceedings of the International Conference on Machine Learning. 448--456","author":"Ioffe Sergey","year":"2015"},{"key":"e_1_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1145\/2733373.2806333"},{"key":"e_1_2_2_27_1","doi-asserted-by":"publisher","DOI":"10.1145\/3130931"},{"key":"e_1_2_2_28_1","volume-title":"The 3rd International Conference for Learning Representations. http:\/\/arxiv.org\/abs\/1412","author":"Kingma Diederik","year":"2015"},{"key":"e_1_2_2_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/THMS.2015.2480801"},{"key":"e_1_2_2_30_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2014.03.014"},{"key":"e_1_2_2_31_1","volume-title":"Deep learning. Nature 521, 7553","author":"LeCun Yann","year":"2015"},{"key":"e_1_2_2_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2018.8525640"},{"key":"e_1_2_2_33_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-016-0381-8"},{"key":"e_1_2_2_34_1","volume-title":"Proceedings of the IEEE International Conference on Rehabilitation Robotics. 1--6.","author":"Liarokapi M. V."},{"key":"e_1_2_2_35_1","first-page":"1257","article-title":"The virtual trackpad: An electromyography-based, wireless, real-time, low-power, embedded hand gesture recognition system using an event-driven artificial neural network","volume":"64","author":"Liu Xilin","year":"2016","journal-title":"IEEE Trans. Circ. Syst. II: Expr. Briefs"},{"key":"e_1_2_2_36_1","volume-title":"Proceedings of the 2017 ACM\/IEEE International Conference on Human-Robot Interaction (HRI\u201917)","author":"McDonald Samuel J."},{"key":"e_1_2_2_37_1","doi-asserted-by":"publisher","DOI":"10.1145\/2668332.2668353"},{"key":"e_1_2_2_38_1","doi-asserted-by":"publisher","DOI":"10.5555\/2993778.2993834"},{"key":"e_1_2_2_39_1","volume-title":"Proceedings of the Annual Conference on Neural Information Processing Systems (NIPS-W\u201917)","author":"Paszke Adam","year":"2017"},{"key":"e_1_2_2_40_1","doi-asserted-by":"publisher","DOI":"10.5555\/1953048.2078195"},{"key":"e_1_2_2_41_1","doi-asserted-by":"publisher","DOI":"10.1163\/016918610X538507"},{"key":"e_1_2_2_42_1","doi-asserted-by":"publisher","DOI":"10.2514\/6.2013-4731"},{"key":"e_1_2_2_43_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-010-9180-5"},{"key":"e_1_2_2_44_1","volume-title":"Proceedings of the IEEE International Conference on Computer Telecommunications and Information Technology.","author":"Phinyomark A."},{"key":"e_1_2_2_45_1","first-page":"71","article-title":"A novel feature extraction for robust EMG pattern recognition","volume":"1","author":"Phinyomark A.","year":"2009","journal-title":"J. Comput."},{"key":"e_1_2_2_46_1","doi-asserted-by":"publisher","DOI":"10.1109\/MC.2016.376"},{"key":"e_1_2_2_47_1","volume-title":"Proceedings of the 13th International Symposium on Distributed Autonomous Robotic Systems (DARS\u201916)","author":"Pinciroli Carlo","year":"2016"},{"key":"e_1_2_2_48_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-016-0124-3"},{"key":"e_1_2_2_49_1","volume-title":"Random forest for bioinformatics. Ensemble Machine Learning: Methods and Applications","author":"Y. Qi."},{"key":"e_1_2_2_50_1","doi-asserted-by":"publisher","DOI":"10.3390\/s120708507"},{"key":"e_1_2_2_51_1","doi-asserted-by":"publisher","DOI":"10.5555\/1805898"},{"key":"e_1_2_2_52_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.entcom.2013.01.001"},{"key":"e_1_2_2_53_1","doi-asserted-by":"publisher","DOI":"10.1109\/COMSNETS.2016.7439933"},{"key":"e_1_2_2_54_1","doi-asserted-by":"publisher","DOI":"10.1682\/JRRD.2010.09.0177"},{"key":"e_1_2_2_55_1","volume-title":"Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics. Banff.","author":"Schmidtler Jonas"},{"key":"e_1_2_2_56_1","volume-title":"Proceedings of the 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN\u201917)","author":"Simmons R."},{"key":"e_1_2_2_57_1","volume-title":"Proceedings of the International Conference on Control, Automation and Systems. 640--643","author":"Song T. R."},{"key":"e_1_2_2_58_1","doi-asserted-by":"publisher","DOI":"10.5555\/2627435.2670313"},{"key":"e_1_2_2_59_1","volume-title":"IEEE Dataport. Retrieved on","author":"St-Onge David","year":"2018"},{"key":"e_1_2_2_60_1","volume-title":"Retrieved","author":"St-Onge David","year":"2018"},{"key":"e_1_2_2_61_1","doi-asserted-by":"crossref","volume-title":"Using Dynamics to Recognize Human Motion","author":"Venture Gentiane","DOI":"10.1007\/978-3-319-25739-6_17"},{"key":"e_1_2_2_62_1","volume-title":"I Want to Believe\u2014Empathy and Catharsis in Robotic Art BT","author":"Vorn Bill"},{"key":"e_1_2_2_63_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.2012.6378253"},{"key":"e_1_2_2_64_1","doi-asserted-by":"publisher","DOI":"10.3390\/s130506380"},{"key":"e_1_2_2_65_1","volume-title":"Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA\u201908)","author":"Xu A."},{"key":"e_1_2_2_66_1","doi-asserted-by":"publisher","DOI":"10.4018\/jdwm.2012040103"}],"container-title":["ACM Transactions on Human-Robot Interaction"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3323213","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3323213","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T23:23:17Z","timestamp":1750202597000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3323213"}},"subtitle":["Commands from Expressive Motion"],"short-title":[],"issued":{"date-parts":[[2019,6,8]]},"references-count":66,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2019,6,30]]}},"alternative-id":["10.1145\/3323213"],"URL":"https:\/\/doi.org\/10.1145\/3323213","relation":{},"ISSN":["2573-9522"],"issn-type":[{"value":"2573-9522","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,6,8]]},"assertion":[{"value":"2018-04-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2019-03-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2019-06-08","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}