The 4th International Conference on Design Engineering and Science, ICDES 2017
Aachen, Germany, September 17-19, 2017

Design to Realize the Harmonious Coexistence of Humans and Robots
Shigeo HIRANO*1,2, Susumu KISE*2, Sozo SEKIGUCHI*2
Kazuya OKUSAKA*2 and Tsutomu ARAKI*3
*1
*2

*3

Professor emeritus, Tokyo City University
3-44-5 Isobe, Mihama-ku, Chiba-city 261-0012, JAPAN
Rs4775hirano@ybb.ne.jp
Artner Co. Ltd, Japan
2F Sumitomonakanoshimabiru,3-2-18 Nakanosima, Kita-ku
Osaka-city 530-0005, JAPAN
kise@artner.co.jp
Professor emeritus, Tsukuba University of Technology
5-444-26 Aioi, Kiryu-City, Gunma, 376-0011, JAPANtutaraki@yahoo.co.jp

Abstract
In recent years, human-machine interaction (HMI) to
realize cooperation and coexistence among humans andmachines or robots has been pursued in manufacturing
sites and general social scenes targeting consumers
owing to various factors including social changes.
One of the catch phrases in the 21st century is “theharmonious coexistence of humans and robots”. For
the harmonious coexistence of humans and robots insociety, smooth bidirectional communication between
them is required. The means of communication should
inevitably be a natural language because robots are a
support tool for humans. From the viewpoint ofmachine safety, a certain level of safety is demanded toensure that humans are not injured by machines that
may be dangerous to humans.
Machine safetyobtained by optimal design is very important and isrealized under conditions of their compromise andcoexistence with the society. Machine safety takes
four elements into account, i.e., ethics, economy, thesocial system, and technology. In this paper, we
examine 1) the mechanism of communication between
humans and robots to realize a harmonious coexistence
and 2) the four elements of machine safety toinvestigate the design required to realize the harmonious
coexistence of humans and robots.
Keywords: human-machine interaction，harmonious
coexistence，humans and robots, machinesafety1 Introduction

One of the catch phrases in the 21st century is “theharmonious coexistence of humans and robots”. In an
increasingly complex human society, assistance fromrobots is indispensable in various fields including safetysystems, medicine, nursing care, and education. To
realize the harmonious coexistence of humans androbots in society, smooth bidirectional communication
between them is required.
When the relationship between humans and robots
is considered, we know that Japan has a long history ofusing industrial robots. In recent years, however,Copyright © 2017, The Organizing Committee of the ICDES 2017

robots have been used not only in factories but also in
our living environment and have started providing
various services to humans. Japan is a country withhigh longevity of its citizens, and the roles of robots inthe field of welfare are particularly applicable tosupporting elderly and disabled people and to prepare
for a superaging society.
A natural language isrequired as a means of communication between humans
and robots because such robots are different fromconventional industrial robots, being tools for providing
assistance to humans.
What are some practical and conceivable methodsof enabling communication between humans and robots
using a natural language, to realize their harmonious
coexistence in society? From the technical aspect, one
approach to realizing such essential communication isby imitating the developmental process of humancommunication, which becomes increasingly
complicated through learning and experience. To
realize this approach, the communicative behavior ofhumans should be analyzed objectively.
Safety hazards and industrial accidents are causedby risk states due to the coexistence of two elements-humans and machines as a hazard source- in the same
space at the same time. Conventional occupationalsafety has mainly been ensured by the education of
employees. However, in recent machine safety basedon the risk-based approach, the removal of hazardous
sources based on the cause-and-effect relationship has
been the point of focus. Therefore, safety has been
ensured by the following methods: dangerous machines
are enclosed (principle of isolation), the hazard sources
and humans are isolated in a Hausdorff space, anddevices such as safety interlocks are activated to power
off machines in dangerous motion when humans comein contact with them (principle of interruption).
Human-machine interaction (HMI) to realize
cooperation and coexistence among humans andmachines or robots has been sought in manufacturing
sites and general social scenes targeting consumers,because of various factors, including social change.
From the viewpoint of machine safety, a certain level ofsafety is demanded to ensure that humans are notinjured by those machines that may be dangerous tohumans.
Machine safety obtained by optimallydesigning machines is very important and is realized
under conditions of their compromise and coexistencewith society. Machine safety is based on four elements,
i.e., ethics, economy, the social system, and technology.
In this paper, we examine 1) the mechanism ofcommunication between humans and robots to realize aharmonious coexistence, and 2) the four elements ofmachine safety to investigate the design required torealize the harmonious coexistence of humans androbots.

2 Harmonious coexistence of humans
and robots
In considering the communicative behavior ofhumans, the content and mechanism of the instinctive
actions of humans should be examined. In general, thefollowing two motives are considered to generate theactions of humans: 1) homeostasis, which is aphysiological motive related to life and death, and 2)
curiosity, which induces explorative activities. The
communication level of humans improves through thedevelopment of their senses and physical capabilities.
A human recognizes that one’s idea is the representationof mind. In this way, a human can distinguish selffrom others and can think from the perspective of others.
Referring to this developmental process of humans, we
can construct the mechanism of communication
between humans and robots.
The positioning of others in one’s mind isimportant because communication resides in therelationship between oneself and others. Namely, forrobots, the positioning of others, i.e., humans, among
themselves, will be a key point. What type of interface
should be designed for this purpose? In general, theacquisition of a representation method, in addition tohomeostasis and curiosity as motives, is considered to
be important in the development of communication
skills.
Here, homeostasis refers to the function ofself-preservation using an autonomous system of living
bodies and is related to how to input evaluation criteria
into robots to initiate a certain action. Curiosity also
follows the evaluation criteria. Therefore, the designof an interface including such an autonomous systemshould be considered first.
The fundamental
technology required for the design of the interface is toacquirearepresentation
method,becausecommunicative behavior is induced by representation
based on the information of sense and motion.
In addition, to realize essential communication
between humans and robots by mutual understanding of
the states of mind of both, the following technical issues
should be addressed: 1) robots should express their stateof mind by themselves, and 2) robots should understandthe state of mind of humans.

3 Development and design of robots
and related problems
The level, smoothness, and accuracy ofcommunication should be considered to realize
constructive communication between humans androbots.
From the viewpoint of the level of communication,
the contributions of design engineering and robotics are
significant. Research into issues that might arise as aresult of the coexistence of humans and robots in thesame living space is well under way. In addition, thelevel of communication skills of robots that are
acceptable to humans has become clear.
Thesefindings should be used in the development and designof robots in the future.
The accuracy of communication is the level ofprecise correspondence between the content ofcommunication and the actions of robots, which is
closely related to an essential understanding of natural
language in human communication. This is the subjectof the field of applied linguistics. Recently, theessence of natural language has been dynamicallyanalyzed from the viewpoint of biolinguistics incooperation with researchers from various fields; thiswill result in a fruitful outcome in the near future.
On the other hand, while the technology for thedevelopment of robots has advanced, the effect of robots
on the human society has not been sufficiently discussed.
Robotic pets, which have a healing effect for humans,
are already commercially available at low cost, and suchrobots have started to have a psychological effect onhumans. The range of applications of these robots
includes mental care, relaxation, and functional
recovery for the elderly. It is safe to assume thatrobots of other types, in addition to robotic pets, willenter into and affect the lives of humans in the future.
Now, we must discuss the effect of robots onhumans, the environment, and the society more clearly.
For example, we must examine 1) the environment inwhich both humans and robots can coexist
harmoniously considering the proliferation of robots inthe daily lives of humans, 2) the social systeminfrastructure, including social rules, and 3) the roles ofrobots in unusual or special circumstances, such as intimes of disaster. By pursuing the solution on the basisof not only engineering but also various fields frompsychology to medicine, the future direction of robot
development, which is currently based on technology
alone, can be provided to contribute to their optimal
development.
Humanoid robots are different from machines, suchas automobiles, in that the robots can autonomously
make decisions and take actions.
Therefore,
establishing communication with robots as well as
establishing ethical, safety, and legal rules required forthe coexistence of humans and robots is indispensable.
If humanoid robots were to be used without establishingsuch rules, our daily lives would be significantly
confused.

4 Four elements related to safety
Machine safety is supported by four elements:
ethics, technology, economy, and the social system.
4.1 Ethics
Science and technology have significantly
increased convenience in our society: however, they
have also had adverse effects on society, such as hazards
caused by untreated hazard sources, environmental
problems, and psychological distress, most of whichcause irreversible effects. Such hazards are sometimes
uncontrollable. On the basis of the assumption that thedesigner of machines can manage hazard sources andcontrol the irreversible and negative aspects of suchhazards, I believe that many designers will be willing to
be involved in such work, which is the ethical basis forengineers.
4.2 Technology
From the conventional concept and methodologyof the principles of isolation and interruption, a newprinciple of HMI should be devised using technology.
According to the first law of Isaac Asimov’s Three Laws
of Robotics, robots are commanded by society not toinjure humans. The Three Laws of Robotics are:
1. A robot may not injure a human being, or, throughinaction, allow a human being to come to harm.
2. A robot must obey the orders given it by humanbeings except where such orders would conflict with theFirst Law.
3. A robot must protect its own existence as long as
such protection does not conflict with the First or
Second Law.
Therefore, the design of machines to ensure safety
against contact and collision is demanded. To this end,
essential safety designs should be prioritized; when asufficient level of risk reduction is not expected to berealized, the development of device technologies,
including safety sensors, will be necessary.
No principle for safe HMI has yet been establishedworldwide. The preparation of the conditions of sucha principle is an urgent task.
4.3 Economy
The concept of assurance of safety in Europe isrealized by the European Community (Communaute
europeenne, CE) marking system, in which the healthand safety of humans are secured, trade barriers are
removed to promote free trade, and only safe products
are transferred to the market; safety is ensured not only
by technology. In addition, smooth economic activities
in terms of convenience and productivity are
considered.
Many countries should participate in establishingsystematized international standards on machine safety.
To this end, machines do not always use the best
technology available but are produced as a result ofcompromisingconditions
posedinsociety.
Technology and economic performance are mutuallydependent because of their trade-off relationship. An
optimal balance between them is required to ensure

safety.
4.4 Social system
An appropriate social system considering the lawson the prevention of accidents and on compensation isrequired regarding the method of use of artificiallydesigned robots (machines) by users, even if the safety
factor is ensured in terms of ethics, technology, andeconomy.
In the case of occupational safety, factory workers
who have basic safety education are targeted and therisk is limited. However, in the case of robots
providing services to general users, the possibility ofaccidents is judged on the basis of the level of
expectation of users, or subjective criteria of judgement.
Therefore, the above four elements should bethoroughly considered in developing an appropriatesocial system.
For the development of industries and the ongoing
improvement of our daily life, the continual creation of
new design solutions using innovative skills is necessary.
For example, the further downsizing and weight
reduction of products, significant reductions in energy
consumption, the creation of new energy alternatives
such as fuel cells, and the development of new
manufacturing strategies are essential.
Therefore, individuals with a thorough knowledge
and wisdom regarding related issues should cooperatewith each other to achieve innovation.
In addition, designers in companies today tend tohave limited knowledge and skillswith respect to safetyin particular. The cause of this problem may beinadequate training at technical colleges and companies.
Professional education in safety issues at technicalcolleges and the systematic education of engineers incompanies are both required. Since Japan is anadvanced country in terms of technology, it should also
be a leading country in terms of safety. We believethat it is necessary to correct the current attitudes towardand methods of ensuring safety.

5 Everything done by humans:
developing technology, manufacturing andusing machines
However advanced technology may be, humans
wish to receive care from humans. Humans also desire
machines to be tools that support care receivers andgivers. I believe that mechanization that leads to thetreatment of humans as objects is wrong.
Technology should accommodate itself to humans,
rather than humans adjusting themselves to thetechnology. Each human has both strong and weak
points. One of important themes of public welfare isthat machines should support the weaknesses of humans
in a natural manner. As one becomes older, one may
have difficulties in daily life. It is natural thatmachines would be used to support such people. It is
desirable that robots providing support coexist inharmony with the culture and the lifestyles of the people

in society. Limitations arise if designers deal with only
the technology.
Technology helps humans make themselves happy.
How technology is used should be thoroughly examinedconsidering economic, religious, and cultural aspects ofsociety before manufacturing machines. After all,humans develop technology and manufacture and use
machines. The mission of designers is to advance thecurrent culture and civilization as legacies for
subsequent generations.

6 Modernity in technology
In a complex society, it is necessary to distinguishbetween specialists who are capable of prediction, andunprofessional individuals who do not have this ability.
For specialists, it is inevitable to require something akinto liability without fault. Design is the act of being
conscious of certain meanings within a specificframework. Accordingly, we can say that design
involves the discovery of a new nature which shows
logical or sensuous understanding of several fields ofscience, and that design is a technology which cannot be
achieved without thoughts on nourishing nature,including human beings.
Machines and structures fulfill specific functions
through the combination of various elements within acertain system, and the machines and structures canfunction synonymously with plans for an artificial
nature. In general, functional items required at thedesign stage consist of those things which can beacademically systematized and those things whichcannot. To complete a new design under such a broad
range of requirements, we need a system or idea that has
been integrated by broad recognition, which enables aflexible response not bound by conventional theories.
In particular, technologies treated in the current era
tend to be ultralarge or ultrasmall, high speed and highly
functional while, simultaneously, they are realized in aform closely related to daily life.
Therefore, we are
required to achieve a balance between cultural/social
sciences and natural sciences, while using naturalsciences as the foundation. This implies that theapplication of science and technology causes problems
related to human qualities.
In this sense, the fact thata designer’s way of thinking and attitude are deeply
associated with his/her accomplishments should not beignored in the evaluation of a design.
For example, in safety design, causes andprocedures of human errors are analyzed based on theassumption that humans easily make mistakes.
Similarly, with respect to the morality of humans, weshould start from the assumption that humans easily
ethically deviate. Issues such as the situations in whichhuman behavior becomes deviant, or the level ofresistance to deviation, should be empirically examined.
People naturally have an interest in other people and adesire to be associated with them. The morality ofhumans is most naturally exhibited in a face-to-facesituation, i.e., in the presence of others. By broadly
understating the meaning of technology and assumingthat all human acts are technological, the close
relationship between virtue and capability becomes
more apparent. In addition, if the human spirit consistsof rational and irrational parts, in order for the rational
nature to function effectively, the rational nature mustfully control the irrational nature. Technology isrequired for such control.
Technology is the wisdom of using dangerous
things safely.
If we refer to this wisdom asengineering wisdom or design wisdom, then it has sucha wide scope that sheds new light on ways to solve themost difficult ethical problems, instead of being limited
to the mere handling of hazardous materials or artificial
substances. An intellectual act to produce things that
do not exist in nature by applying natural laws iscreation.

7 Conclusions
To meet the needs of the times, the recent conceptof HMI is based on nonlinear elements of science thatcan coexist with biosystems with minimal energy
consumption, rather than the conventional concept
based on linear elements of science that clarify andsubdue nature. In other words, we aim to establish asociety of coexistence in which we can live a safe andsecure life with machines.
In an actual society, the number of nonlinear
elements is much larger than that of linear elements.
In a complex society, we demand to maintainhomeostasis while optimally controlling the increase inentropy by various elements to ensure safety.
Proceeding with the development, design, and safety
design of robots is an effective methodology forrealizing this goal.

References[1]Hiroshi Ishiguro Laboratories., The future society bywhich arobot symbioses with a person. Robotics
online course document, Advanced
Telecommunications Research Institute International,(2014).
[2]Shigeru Yamauchi., Care Robot and Robotic
Assistive Technology, NPO Supporting Technology
Organization of Developmen, (2015)．