{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,16]],"date-time":"2026-05-16T09:10:24Z","timestamp":1778922624685,"version":"3.51.4"},"reference-count":20,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2016,6,8]],"date-time":"2016-06-08T00:00:00Z","timestamp":1465344000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In the near future, we can expect to see robots naturally following or going ahead of humans, similar to pet behavior. We call this type of robots \u201cPet-Bot\u201d. To implement this function in a robot, in this paper we introduce a self-organizing interaction and synchronization method between wearable devices and Pet-Bots. First, the Pet-Bot opportunistically identifies its owner without any human intervention, which means that the robot self-identifies the owner\u2019s approach on its own. Second, Pet-Bot\u2019s activity is synchronized with the owner\u2019s behavior. Lastly, the robot frequently encounters uncertain situations (e.g., when the robot goes ahead of the owner but meets a situation where it cannot make a decision, or the owner wants to stop the Pet-Bot synchronization mode to relax). In this case, we have adopted a gesture recognition function that uses a 3-D accelerometer in the wearable device. In order to achieve the interaction and synchronization in real-time, we use two wireless communication protocols: 125 kHz low-frequency (LF) and 2.4 GHz Bluetooth low energy (BLE). We conducted experiments using a prototype Pet-Bot and wearable devices to verify their motion recognition of and synchronization with humans in real-time. The results showed a guaranteed level of accuracy of at least 94%. A trajectory test was also performed to demonstrate the robot\u2019s control performance when following or leading a human in real-time.<\/jats:p>","DOI":"10.3390\/s16060842","type":"journal-article","created":{"date-parts":[[2016,6,8]],"date-time":"2016-06-08T11:26:26Z","timestamp":1465385186000},"page":"842","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["A Self-Organizing Interaction and Synchronization Method between a Wearable Device and Mobile Robot"],"prefix":"10.3390","volume":"16","author":[{"given":"Min","family":"Kim","sequence":"first","affiliation":[{"name":"Departement of Software Convergence, Kyungpook National University, 80 Daehakro, Bukgu, Daegu 702-701, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jae","family":"Lee","sequence":"additional","affiliation":[{"name":"School of Electronics Engineering, College of IT Engineering, Kyungpook National University, 80 Daehakro, Bukgu, Daegu 702-701, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8171-195X","authenticated-orcid":false,"given":"Soon","family":"Kang","sequence":"additional","affiliation":[{"name":"School of Electronics Engineering, College of IT Engineering, Kyungpook National University, 80 Daehakro, Bukgu, Daegu 702-701, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2016,6,8]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Yoshimi, T., Nishiyama, M., Sonoura, T., Nakamoto, H., Tokura, S., Sato, H., Ozaki, F., Matsuhira, N., and Mizoguchi, H. 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