| Bringing physical characters to life | | BIBAK | Full-Text | 1-2 | |
| Akhil J. Madhani | |||
| At Disney, we are storytellers, and all good stories are filled with
compelling characters. One way to present these characters to audiences in
immersive, 3D environments is through the use of entertainment robots, or Audio
Animatronics Figures, as they have traditionally been known at Disney in
attractions such as Pirates of the Caribbean.
In this talk, I hope to give insight into the design and development of entertainment robots at Disney. In particular, I share -- from the point of view of a robot builder -- some of the guidelines distilled from Disney's tradition of hand-drawn animation as they are applied to these systems. As examples of characters which partake in two-way interactions with audiences via teleoperation, I discuss two newer characters. The first, Lucky the Dinosaur, was designed to roam freely through the Disney theme park environment while interacting with guests. The second, Wall-E, was developed in conjunction with Pixar Animation Studios to represent the character from the film, and has made appearances and given interviews at red carpet premieres, press events, and in television studios around the world. Ultimately, we hope that a further scientific study of the principles of animation and character development would be useful to anyone designing robots, autonomous or teleoperated, which must interact with humans. Keywords: interaction, robotics | |||
| Interacting with robots on Mars: operation of the mars exploration rovers | | BIBAK | Full-Text | 3-4 | |
| Steve Squyres | |||
| The rovers Spirit and Opportunity have been operating on the surface of Mars
since January of 2004. Interaction with these robotic vehicles involves
overcoming a number of operational challenges. The challenges include the
distance between Mars and Earth (the one-way travel time for commands and data
can be as long as 20 minutes), environmental factors (e.g., extreme
temperatures, dust storms), and the need to respond quickly and effectively to
unexpected events and scientific discoveries. In the five years since the
rovers landed, the Mars Exploration Rover project team has developed
operational procedures for interacting with the rovers that are both
scientifically productive and sustainable for what has become a long-duration
mission. Keywords: keynote talk | |||
| Robots with emotional intelligence | | BIBAK | Full-Text | 5-6 | |
| Rosalind W. Picard | |||
| This keynote talk will illustrate a basic set of skills of emotional
intelligence, how they are important for robots and agents that interact with
people, and how our research at MIT addresses part of the problem of giving
robots such skills. One of the most important skills is the ability to perceive
and understand expressions of emotion, which I will highlight by demonstrating
our latest technologies developed to read joint facial-head movements in
real-time and associate these with complex affective-cognitive states, and
technologies to read paralinguistic vocal cues from speech. The latter have
been made open-source and are available for free. I will also show some
non-traditional ways robots might sense and learn about human emotion, and ways
they can respond to what they sense that can help or hurt people. I will
discuss social and ethical issues these technologies raise. Finally, I will
present some new possibilities for robots to both learn from people and help
teach skills of emotional intelligence to people, especially to those with
nonverbal learning impairments who may want to learn these skills, including
many people with diagnoses of autism spectrum disorders such as Aspergers
Syndrome. Keywords: affective computing, autism, deception detection, emotion recognition,
emotional intelligence, empathic technology, facial expression recognition,
physiological sensing, prosody analysis, system | |||
| The snackbot: documenting the design of a robot for long-term human-robot interaction | | BIBAK | Full-Text | 7-14 | |
| Min Kyung Lee; Jodi Forlizzi; Paul E. Rybski; Frederick Crabbe; Wayne Chung; Josh Finkle; Eric Glaser; Sara Kiesler | |||
| We present the design of the Snackbot, a robot that will deliver snacks in
our university buildings. The robot is intended to provide a useful, continuing
service and to serve as a research platform for long-term Human-Robot
Interaction. Our design process, which occurred over 24 months, is documented
as a contribution for others in HRI who may be developing social robots that
offer services. We describe the phases of the design project, and the design
decisions and tradeoffs that led to the current version of the robot. Keywords: design process, holistic design, interaction design, social robot | |||
| Learning about objects with human teachers | | BIBAK | Full-Text | 15-22 | |
| Andrea L. Thomaz; Maya Cakmak | |||
| A general learning task for a robot in a new environment is to learn about
objects and what actions/effects they afford. To approach this, we look at ways
that a human partner can intuitively help the robot learn, Socially Guided
Machine Learning. We present experiments conducted with our robot, Junior, and
make six observations characterizing how people approached teaching about
objects. We show that Junior successfully used transparency to mitigate errors.
Finally, we present the impact of "social" versus "non-social" data sets when
training SVM classifiers. Keywords: interactive machine learning, social robot learning | |||
| How people talk when teaching a robot | | BIBAK | Full-Text | 23-30 | |
| Elizabeth S. Kim; Dan Leyzberg; Katherine M. Tsui; Brian Scassellati | |||
| We examine affective vocalizations provided by human teachers to robotic
learners. In unscripted one-on-one interactions, participants provided vocal
input to a robotic dinosaur as the robot selected toy buildings to knock down.
We find that (1) people vary their vocal input depending on the learner's
performance history, (2) people do not wait until a robotic learner completes
an action before they provide input and (3) people naively and spontaneously
use intensely affective prosody. Our findings suggest modifications may be
needed to traditional machine learning models to better fit observed human
tendencies. Our observations of human behavior contradict the popular
assumptions made by machine learning algorithms (in particular, reinforcement
learning) that the reward function is stationary and path-independent for
social learning interactions.
We also propose an interaction taxonomy that describes three phases of a human-teacher's vocalizations: direction, spoken before an action is taken; guidance, spoken as the learner communicates an intended action; and feedback, spoken in response to a completed action. Keywords: affective input, affective vocalization, human-robot interaction, naive
teaching, reinforcement learning, social learning | |||
| I am my robot: the impact of robot-building and robot form on operators | | BIBAK | Full-Text | 31-36 | |
| Victoria Groom; Leila Takayama; Paloma Ochi; Clifford Nass | |||
| As robots become more pervasive, operators will develop richer relationships
with them. In a 2 (robot form: humanoid vs. car) x 2 (assembler: self vs.
other) between-participants experiment (N=56), participants assembled either a
humanoid or car robot. Participants then used, in the context of a game, either
the robot they built or a different robot. Participants showed greater
extension of their self-concept into the car robot and preferred the
personality of the car robot over the humanoid robot. People showed greater
self extension into a robot and preferred the personality of the robot they
assembled over a robot they believed to be assembled by another. Implications
for the theory and design of robots and human-robot interaction are discussed. Keywords: anthropomorphism, human-robot interaction, humanoid robots, robot form,
robot personality, robots, self, self extension | |||
| Egocentric and exocentric teleoperation interface using real-time, 3D video projection | | BIBAK | Full-Text | 37-44 | |
| François Ferland; François Pomerleau; Chon Tam Le Dinh; François Michaud | |||
| The user interface is the central element of a telepresence robotic system
and its visualization modalities greatly affect the operator's situation
awareness, and thus its performance. Depending on the task at hand and the
operator's preferences, going from ego- and exocentric viewpoints and improving
the depth representation can provide better perspectives of the operation
environment. Our system, which combines a 3D reconstruction of the environment
using laser range finder readings with two video projection methods, allows the
operator to easily switch from ego- to exocentric viewpoints. This paper
presents the interface developed and demonstrates its capabilities by having 13
operators teleoperate a mobile robot in a navigation task. Keywords: enabling technologies, feedback modalities, human-robot interaction (HRI),
interface design and usability, robot intermediaries (e.g., telepresence,
proxies, avatars), situation awareness (SA) | |||
| Robots in the wild: understanding long-term use | | BIBAK | Full-Text | 45-52 | |
| JaYoung Sung; Henrik I. Christensen; Rebecca E. Grinter | |||
| It has long been recognized that novelty effects exist in the interaction
with technologies. Despite this recognition, we still know little about the
novelty effects associated with domestic robotic appliances and more
importantly, what occurs after the novelty wears off. To address this gap, we
undertook a longitudinal field study with 30 households to which we gave Roomba
vacuuming robots and then observed use over six months. During this study,
which spans over 149 home visits, we encountered methodological challenges in
understanding households' usage patterns. In this paper we report on our
longitudinal research, focusing particularly on the methods that we used 1) to
understand human-robot interaction over time despite the constraints of privacy
and temporality in the home, and 2) to uncover information when routines became
less conscious to the participants themselves. Keywords: domestic robot, longitudinal field research, user study | |||
| Providing route directions: design of robot's utterance, gesture, and timing | | BIBAK | Full-Text | 53-60 | |
| Yusuke Okuno; Takayuki Kanda; Michita Imai; Hiroshi Ishiguro; Norihiro Hagita | |||
| Providing route directions is a complicated interaction. Utterances are
combined with gestures and pronounced with appropriate timing. This study
proposes a model for a robot that generates route directions by integrating
three important crucial elements: utterances, gestures, and timing. Two
research questions must be answered in this modeling process. First, is it
useful to let robot perform gesture even though the information conveyed by the
gesture is given by utterance as well? Second, is it useful to implement the
timing at which humans speaks? Many previous studies about the natural behavior
of computers and robots have learned from human speakers, such as gestures and
speech timing. However, our approach is different from such previous studies.
We emphasized the listener's perspective. Gestures were designed based on the
usefulness, although we were influenced by the basic structure of human
gestures. Timing was not based on how humans speak, but modeled from how they
listen. The experimental result demonstrated the effectiveness of our approach,
not only for task efficiency but also for perceived naturalness. Keywords: gesture, route directions, timing | |||
| Footing in human-robot conversations: how robots might shape participant roles using gaze cues | | BIBAK | Full-Text | 61-68 | |
| Bilge Mutlu; Toshiyuki Shiwa; Takayuki Kanda; Hiroshi Ishiguro; Norihiro Hagita | |||
| During conversations, speakers establish their and others' participant roles
(who participates in the conversation and in what capacity) -- or "footing" as
termed by Goffman-using gaze cues. In this paper, we study how a robot can
establish the participant roles of its conversational partners using these
cues. We designed a set of gaze behaviors for Robovie to signal three kinds of
participant roles: addressee, bystander, and overhearer. We evaluated our
design in a controlled laboratory experiment with 72 subjects in 36 trials. In
three conditions, the robot signaled to two subjects, only by means of gaze,
the roles of (1) two addressees, (2) an addressee and a bystander, or (3) an
addressee and an overhearer. Behavioral measures showed that subjects'
participation behavior conformed to the roles that the robot communicated to
them. In subjective evaluations, significant differences were observed in
feelings of groupness between addressees and others and liking between
overhearers and others. Participation in the conversation did not affect task
performance-measured by recall of information presented by the robot-but
affected subjects' ratings of how much they attended to the task. Keywords: conversational participation, footing, gaze, participant roles,
participation structure, robovie | |||
| Nonverbal leakage in robots: communication of intentions through seemingly unintentional behavior | | BIBAK | Full-Text | 69-76 | |
| Bilge Mutlu; Fumitaka Yamaoka; Takayuki Kanda; Hiroshi Ishiguro; Norihiro Hagita | |||
| Human communication involves a number of nonverbal cues that are seemingly
unintentional, unconscious, and automatic-both in their production and
perception-and convey rich information on the emotional state and intentions of
an individual. One family of such cues is called "nonverbal leakage." In this
paper, we explore whether people can read nonverbal leakage cues-particularly
gaze cues-in humanlike robots and make inferences on robots' intentions, and
whether the physical design of the robot affects these inferences. We designed
a gaze cue for Geminoid-a highly humanlike android-and Robovie-a robot with
stylized, abstract humanlike features-that allowed the robots to "leak"
information on what they might have in mind. In a controlled laboratory
experiment, we asked participants to play a game of guessing with either of the
robots and evaluated how the gaze cue affected participants' task performance.
We found that the gaze cue did, in fact, lead to better performance, from which
we infer that the cue led to attributions of mental states and intentionality.
Our results have implications for robot design, particularly for designing
expression of intentionality, and for our understanding of how people respond
to human social cues when they are enacted by robots. Keywords: gaze, geminoid, humanlikeness, nonverbal behavior, nonverbal leakage,
robovie | |||
| Visual attention in spoken human-robot interaction | | BIBAK | Full-Text | 77-84 | |
| Maria Staudte; Matthew W. Crocker | |||
| Psycholinguistic studies of situated language processing have revealed that
gaze in the visual environment is tightly coupled with both spoken language
comprehension and production. It has also been established that interlocutors
monitor the gaze of their partners, a phenomenon called "joint attention", as a
further means for facilitating mutual understanding. We hypothesise that
human-robot interaction will benefit when the robot's language-related gaze
behaviour is similar to that of people, potentially providing the user with
valuable non-verbal information concerning the robot's intended message or the
robot's successful understanding. We report findings from two eye-tracking
experiments demonstrating (1) that human gaze is modulated by both the robot
speech and gaze, and (2) that human comprehension of robot speech is improved
when the robot's real-time gaze behaviour is similar to that of humans. Keywords: experimental methods, gaze, user study, visual attention | |||
| An information pipeline model of human-robot interaction | | BIBAK | Full-Text | 85-92 | |
| Kevin Gold | |||
| This paper investigates the potential usefulness of viewing the system of
human, robot, and environment as an "information pipeline" from environment to
user and back again. Information theory provides tools for analyzing and
maximizing the information rate of each stage of this pipeline, and could thus
encompass several common HRI goals: "situational awareness," which can be seen
as maximizing the information content of the human's model of the situation;
efficient robotic control, which can be seen as finding a good codebook and
high throughput for the Human-Robot channel; and artificial intelligence, which
can be assessed by how much it reduces the traffic on all four channels.
Analysis of the information content of the four channels suggests that human to
robot communication tends to be the bottleneck, suggesting the need for greater
onboard intelligence and a command interface that can adapt to the situation. Keywords: conceptual/foundational, human-robot interaction, information theory | |||
| Systemic interaction analysis (SInA) in HRI | | BIBAK | Full-Text | 93-100 | |
| Manja Lohse; Marc Hanheide; Katharina J. Rohlfing; Gerhard Sagerer | |||
| Recent developments in robotics enable advanced human-robot interaction.
Especially interactions of novice users with robots are often unpredictable
and, therefore, demand for novel methods for the analysis of the interaction in
systemic ways. We propose Systemic Interaction Analysis (SInA) as a method to
jointly analyze system level and interaction level in an integrated manner
using one tool. The approach allows us to trace back patterns that deviate from
prototypical interaction sequences to the distinct system components of our
autonomous robot. In this paper, we exemplarily apply the method to the
analysis of the follow behavior of our domestic robot BIRON. The analysis is
the basis to achieve our goal of improving human-robot interaction iteratively. Keywords: analysis tools, autonomous system, domestic robot, follow behavior, user
studies | |||
| The oz of wizard: simulating the human for interaction research | | BIBAK | Full-Text | 101-108 | |
| Aaron Steinfeld; Odest Chadwicke Jenkins; Brian Scassellati | |||
| The Wizard of Oz experiment method has a long tradition of acceptance and
use within the field of human-robot interaction. The community has
traditionally downplayed the importance of interaction evaluations run with the
inverse model: the human simulated to evaluate robot behavior, or Oz of Wizard.
We argue that such studies play an important role in the field of human-robot
interaction. We differentiate between methodologically rigorous human modeling
and placeholder simulations using simplified human models. Guidelines are
proposed for when Oz of Wizard results should be considered acceptable. This
paper also describes a framework for describing the various permutations of
Wizard and Oz states. Keywords: evaluation, human-robot interaction, interaction, wizard of oz | |||
| How to approach humans?: strategies for social robots to initiate interaction | | BIBAK | Full-Text | 109-116 | |
| Satoru Satake; Takayuki Kanda; Dylan F. Glas; Michita Imai; Hiroshi Ishiguro; Norihiro Hagita | |||
| This paper proposes a model of approach behavior with which a robot can
initiate conversation with people who are walking. We developed the model by
learning from the failures in a simplistic approach behavior used in a real
shopping mall. Sometimes people were unaware of the robot's presence, even when
it spoke to them. Sometimes, people were not sure whether the robot was really
trying to start a conversation, and they did not start talking with it even
though they displayed interest. To prevent such failures, our model includes
the following functions: predicting the walking behavior of people, choosing a
target person, planning its approaching path, and nonverbally indicating its
intention to initiate a conversation. The approach model was implemented and
used in a real shopping mall. The field trial demonstrated that our model
significantly improves the robot's performance in initiating conversations. Keywords: anticipation, approaching behavior, position-based interaction | |||
| ShadowPlay: a generative model for nonverbal human-robot interaction | | BIBAK | Full-Text | 117-124 | |
| Eric M. Meisner; Selma Àbanovic; Volkan Isler; Linnda Caporeal R. Caporeal; Jeff Trinkle | |||
| Humans rely on a finely tuned ability to recognize and adapt to socially
relevant patterns in their everyday face-to-face interactions. This allows them
to anticipate the actions of others, coordinate their behaviors, and create
shared meaning to communicate. Social robots must likewise be able to recognize
and perform relevant social patterns, including interactional synchrony,
imitation, and particular sequences of behaviors. We use existing empirical
work in the social sciences and observations of human interaction to develop
nonverbal interactive capabilities for a robot in the context of shadow puppet
play, where people interact through shadows of hands cast against a wall. We
show how information theoretic quantities can be used to model interaction
between humans and to generate interactive controllers for a robot. Finally, we
evaluate the resulting model in an embodied human-robot interaction study. We
show the benefit of modeling interaction as a joint process rather than
modeling individual agents. Keywords: control architecture, gesture recognition, interaction synchrony, modeling
social situations, nonverbal interaction | |||
| Creating and using matrix representations of social interaction | | BIBAK | Full-Text | 125-132 | |
| Alan R. Wagner | |||
| This paper explores the use of an outcome matrix as a computational
representation of social interaction suitable for implementation on a robot. An
outcome matrix expresses the reward afforded to each interacting individual
with respect to pairs of potential behaviors. We detail the use of the outcome
matrix as a representation of interaction in social psychology and game theory,
discuss the need for modeling the robot's interactive partner, and contribute
an algorithm for creating outcome matrices from perceptual information.
Experimental results explore the use of the algorithm with different types of
partners and in different environments. Keywords: interaction, interdependence theory, mental model | |||
| Developing a model of robot behavior to identify and appropriately respond to implicit attention-shifting | | BIBAK | Full-Text | 133-140 | |
| Fumitaka Yamaoka; Takayuki Kanda; Hiroshi Ishiguro; Norihiro Hagita | |||
| In this paper, we present our current research on developing a model of
robot behavior that leads to feelings of being together using the robot's body
position and orientation. Creating feelings of "being together" will be an
essential skill for robots that live with humans and adapt to daily human
activities such as walking together or establishing joint attention to
information in the environment. We observe people's proxemic behavior in joint
attention situations and develop a model of behavior for robots to detect a
partner's attention shift and appropriately adjust its body position and
orientation in establishing joint attention with the partner. We experimentally
evaluate the effectiveness of our model, and our results demonstrate the
model's effectiveness. Keywords: position-based interaction, proximics, transition of attention | |||
| How search and its subtasks scale in N robots | | BIBAK | Full-Text | 141-148 | |
| Huadong Wang; Michael Lewis; Prasanna Velagapudi; Paul Scerri; Katia Sycara | |||
| The present study investigates the effect of the number of controlled robots
on performance of an urban search and rescue (USAR) task using a realistic
simulation. Participants controlled either 4, 8, or 12 robots. In the fulltask
control condition participants both dictated the robots' paths and controlled
their cameras to search for victims. In the exploration condition, participants
directed the team of robots in order to explore as wide an area as possible. In
the perceptual search condition, participants searched for victims by
controlling cameras mounted on robots following predetermined paths selected to
match characteristics of paths generated under the other two conditions. By
decomposing the search and rescue task into exploration and perceptual search
subtasks the experiment allows the determination of their scaling
characteristics in order to provide a basis for tentative task allocations
among humans and automation for controlling larger robot teams. In the fulltask
control condition task performance increased in going from four to eight
controlled robots but deteriorated in moving from eight to twelve. Workload
increased monotonically with number of robots. Performance per robot decreased
with increases in team size. Results are consistent with earlier studies
suggesting a limit of between 8-12 robots for direct human control. Keywords: evaluation, human-robot interaction, metrics, multi-robot system | |||
| Field trial for simultaneous teleoperation of mobile social robots | | BIBAK | Full-Text | 149-156 | |
| Dylan F. Glas; Takayuki Kanda; Hiroshi Ishiguro; Norihiro Hagita | |||
| Simultaneous teleoperation of mobile, social robots presents unique
challenges, combining the real-time demands of conversation with the
prioritized scheduling of navigational tasks. We have developed a system in
which a single operator can effectively control four mobile robots performing
both conversation and navigation. We compare the teleoperation requirements for
mobile, social robots with those of traditional robot systems, and we identify
metrics for evaluating task difficulty and operator performance for
teleoperation of mobile social robots. As a proof of concept, we present an
integrated priority model combining real-time conversational demands and
non-real-time navigational demands for operator attention, and in a pioneering
study, we apply the model and metrics in a demonstration of our multi-robot
system through real-world field trials in a shopping arcade. Keywords: adjustable autonomy, prioritized control, simultaneous teleoperation,
teleoperation of social robots | |||
| Mobile human-robot teaming with environmental tolerance | | BIBAK | Full-Text | 157-164 | |
| Matthew M. Loper; Nathan P. Koenig; Sonia H. Chernova; Chris V. Jones; Odest C. Jenkins | |||
| We demonstrate that structured light-based depth sensing with standard
perception algorithms can enable mobile peer-to-peer interaction between humans
and robots. We posit that the use of recent emerging devices for depth-based
imaging can enable robot perception of non-verbal cues in human movement in the
face of lighting and minor terrain variations. Toward this end, we have
developed an integrated robotic system capable of person following and
responding to verbal and non-verbal commands under varying lighting conditions
and uneven terrain. The feasibility of our system for peer-to-peer HRI is
demonstrated through two trials in indoor and outdoor environments. Keywords: gesture recognition, human-robot interaction, person following | |||
| On using mixed-initiative control: a perspective for managing large-scale robotic teams | | BIBAK | Full-Text | 165-172 | |
| Benjamin Hardin; Michael A. Goodrich | |||
| Prior work suggests that the potential benefits of mixed initiative
management of multiple robots are mitigated by situational factors, including
workload and operator expertise. In this paper, we present an experiment where
allowing a supervisor and group of searchers to jointly decide the correct
level of autonomy for a given situation ("mixed initiative") results in better
overall performance than giving an agent exclusive control over their level of
autonomy ("adaptive autonomy") or giving a supervisor exclusive control over
the agent's level of autonomy ("adjustable autonomy"), regardless of the
supervisor's expertise or workload. In light of prior work, we identify two
elements of our experiment that appear to be requirements for effective mixed
initiative control of large-scale robotic teams: (a) Agents must be capable of
making progress toward a goal without having to wait for human input in most
circumstances. (b) The operator control interface must help the human to
rapidly understand and modify the progress and intent of several agents. Keywords: adaptive autonomy, adjustable autonomy, human-robot interaction, mixed
initiative, unmanned vehicles, user study | |||
| An affective guide robot in a shopping mall | | BIBAK | Full-Text | 173-180 | |
| Takayuki Kanda; Masahiro Shiomi; Zenta Miyashita; Hiroshi Ishiguro; Norihiro Hagita | |||
| To explore possible robot tasks in daily life, we developed a guide robot
for a shopping mall and conducted a field trial with it. The robot was designed
to interact naturally with customers and to affectively provide shopping
information. It was also designed to repeatedly interact with people to build a
rapport; since a shopping mall is a place people repeatedly visit, it provides
the chance to explicitly design a robot for multiple interactions. For this
capability, we used RFID tags for person identification. The robot was
semi-autonomous, partially controlled by a human operator, to cope with the
difficulty of speech recognition in a real environment and to handle unexpected
situations.
A field trial was conducted at a shopping mall for 25 days to observe how the robot performed this task and how people interacted with it. The robot interacted with approximately 100 groups of customers each day. We invited customers to sign up for RFID tags and those who participated answered questionnaires. The results revealed that 63 out of 235 people in fact went shopping based on the information provided by the robot. The experimental results suggest promising potential for robots working in shopping malls. Keywords: communication robots, field trial, service robots | |||
| Concurrent performance of military tasks and robotics tasks: effects of automation unreliability and individual differences | | BIBAK | Full-Text | 181-188 | |
| Jessie Y. C. Chen | |||
| This study investigated the performance and workload of the combined
position of gunner and robotics operator in a simulated military multitasking
environment. Specifically, we investigated how aided target recognition (AiTR)
capabilities for the gunnery task with imperfect reliability (false-alarm-prone
vs. miss-prone) might affect the concurrent robotics and communication tasks.
Additionally, we examined whether performance was affected by individual
differences in spatial ability and attentional control. Results showed that
when the robotics task was simply monitoring the video, participants had the
best performance in their gunnery and communication tasks and the lowest
perceived workload, compared with the other robotics tasking conditions. There
was a strong interaction between the type of AiTR unreliability and
participants' perceived attentional control. Overall, for participants with
higher perceived attentional control, false-alarm-prone alerts were more
detrimental; for low attentional control participants, conversely, miss-prone
automation was more harmful. Low spatial ability participants preferred visual
cueing, and high spatial ability participants favored tactile cueing. Potential
applications of the findings include personnel selection for robotics
operation, robotics user interface designs, and training development. Keywords: cueing, human robot interaction, imperfect automation, individual
differences, military, reconnaissance, simulation, tactile display | |||
| Non-facial and non-verbal affective expression in appearance-constrained robots for use in victim management: robots to the rescue! | | BIBAK | Full-Text | 191-192 | |
| Cindy L. Bethel; Christine Bringes; Robin R. Murphy | |||
| This video presents a visual summary of large-scale, complex human study in
Human-Robot Interaction (HRI) designed to evaluate whether humans would view
interactions with two non-anthropomorphic robots more positively and calming
when the robots were operated in an emotive mode versus a standard, non-emotive
mode. The video presents actual participants' reactions, the study design, and
images from search and rescue operations. Keywords: affective robotics, experimental design, human-robot interaction, urban
search and rescue, victim management | |||
| A native iPhone packbot OCU | | BIBAK | Full-Text | 193-194 | |
| Rodrigo Gutierrez; Jeff Craighead | |||
| This video abstract discusses the details of the implementation of a Packbot
operator control unit (OCU) using Apple's official iPhone SDK. Keywords: iPhone, robot, touch screen | |||
| FaceBots: social robots utilizing facebook | | BIBAK | Full-Text | 195-196 | |
| Nikolaos Mavridis; Chandan Datta; Shervin Emami; Chiraz BenAbdelkader; Andry Tanoto; Tamer Rabie | |||
| Although existing robotic systems are interesting to interact with in the
short term, it has been shown that after some weeks of quasi-regular
encounters, humans gradually lose their interest, and meaningful longer-term
human-robot relationships are not established. An underlying hypothesis driving
the proposed project is that such relationships can be significantly enhanced
if the human and the robot are gradually creating a pool of shared episodic
memories that they can co-refer to, and if they are both embedded in a social
web of other humans and robots they both know and encounter frequently. Thus,
here we propose to use Facebook, a highly successful online networking resource
for humans, towards enhancing longer-term human-robot relationships, by helping
to address the above two prerequisites. As a starting point, we utilize social
information in order to personalize human-robot dialogues, and to include
references to past encounters and to encounters with friends within dialogues.
A robot equipped with a modular software architecture (with
IPC-intercommunicating modules for face recognition, a simple dialog system, a
navigation subsystem, and a real-time Facebook connection/local social
database) has been deployed, and is encountering humans in the environment of
our lab. An early demonstration of a basic form of such encounters is shown in
the submitted video. The system is expected to achieve two significant
novelties: arguably being one of the first robots to be embedded in a social
web, and being the first robot that can purposefully exploit and create social
information that is available online. Furthermore, it is expected to provide
empirical support for our main driving hypothesis, that the formation of shared
episodic memories within a social web can lead to more meaningful long-term
human-robot relationships. Keywords: conversational robots, human-robot interaction, social robots | |||
| Keepon goes Seoul-searching | | BIBAK | Full-Text | 197-198 | |
| Marek P. Michalowski; Jaewook Kim; Bomi Kim; Sonya S. Kwak; Hideki Kozima | |||
| Keepon is a robot designed for social interaction with children for the
purposes of social development research and autism therapy [1]. Keepon's
capacity for rhythmic synchrony in the form of dance has resulted in the
popularity of several fictional music videos on the internet [2,3]. During a
research collaboration visit at the KAIST PES Design Lab in Korea, Keepon's
creators added this new chapter to the story of Keepon's travels. Upon watching
a video of traditional Korean "Pungmulnori" dancing, which features distinctive
spinning hats, Keepon becomes enamored. The robot has many adventures as he
travels around Korea in search of a dance group that finally welcomes him into
their cultural performance.
Additional credits: Music ("Superfantastic" by Peppertones/Cavare Sound); Videography (Uyoung Chang and Minwoo Kang); Pungmulnori Team "Ghil" (Junhyung Park, Seongbok Chae, Sangmi Lee, Mikyeong Kim, and Sohyun Park). This video is available at http://beatbots.org and at http://www.youtube.com/watch?v=XwqfWR2KPd0. Keywords: human-robot interaction, rhythmic synchrony, social robotics | |||
| AURAL: evolutionary sonification with robots | | BIBAK | Full-Text | 199-200 | |
| Artemis M. F. S. Moroni; Jônatas Manzolli | |||
| This study aims to provide a platform for exploring robotic navigation in
line with evolutionary computation of sound control data. Real world devices,
two mobile robots and an omnidirectional vision system are integrated to sonify
trajectories of robots in real time. Keywords: algorithmic composition, computer art, evolutionary computation,
omnidirectional vision system, robotics | |||
| Preliminary observation of HRI in robot-assisted medical response | | BIBAK | Full-Text | 201-202 | |
| Robin Murphy; Masashi Konyo; Pedro Davalas; Gabe Knezek; Satoshi Tadokoro; Kazuna Sawata; Maarten Van Zomeren | |||
| This video captures human-robot interaction which occurred during an
evaluation of a novel, snake-like search and rescue robot assisting with victim
management. Most of the observations confirmed previous findings- That a 2:1
H-R ratio ratio is appropriate, Team coordination is enhanced by shared visual
perception, and Poor interfaces continue to lead to incomplete coverage.
However, the victims responded to the robot in two surprising ways: grabbing
the robot and being concerned about its appearance. Keywords: HRI, rescue robotics, search and rescue | |||
| Blog robot: a new style for accessing location-based contents | | BIBAK | Full-Text | 203-204 | |
| Masato Noda; Toshihiro Osumi; Kenta Fujimoto; Yuki Kuwayama; Hirotaka Osawa; Michita Imai; Kazuhiko Shinozawa | |||
| We propose a portable robot named "Blog Robot" which presents blog contents
by using verbal and non-verbal expression. Blog Robot is a robotized
smart-phone which has a head and arms for making hand gestures, eye contact,
and joint attention. The blog is widely used to express personal views or to
record daily occurrences. One of the information frequently posted on the blog
is related to a certain place such as a tourist site or a shop. Meanwhile,
people sit down in front of their PC and check blogs through the text and the
image displayed on the Web browser. However, their style of checking the blogs
is not good way for them to realize the authentic situations which blog writers
let them know. The user carries Blog Robot like cellular phone and can browse
blogs related to the location where user is. The browse method makes the user
access the blog at the real scene related to the contents of the blog. Blog
Robot gives her/him the content of the blog by reading it with synthesized
speech. In particular, the nonverbal information generated by Blog Robot
enhances the read information as if the blog writer is next her/him while
telling her/him it. The browse method is expected to enable the user to obtain
more realistic information than the Web browser on the PC.
Moreover, it enables the user shares the information with the blog writer. In addition, since the browse through Blog Robot is performed at the location that the blog writer once visited, the blog writer has proper feedback from the user. It is difficult for the blog writer to obtain the same feedback from the user who sits in front of her/his PC because she/he is not there. We have also designed tags specific to generating the nonverbal expression of Blog Robot and the tags are embedded within the text in the blog. The tags can be used not only for Blog Robot but also for the PC. If the user checks the blog including the tags, they are displayed as icon on the Web browser. Keywords: agent presentation, human robot interaction, information revitalization, web
contents | |||
| Human-robot physical interaction with dynamically stable mobile robots | | BIBAK | Full-Text | 205-206 | |
| Umashankar Nagarajan; George Kantor; Ralph L. Hollis | |||
| Developed by Prof. Ralph Hollis in the Microdynamic Systems Laboratory at
Carnegie Mellon University, Ballbot is a dynamically stable mobile robot moving
on a single spherical wheel providing omni-directional motion. Unlike
statically stable mobile robots, dynamically stable mobile robots can be tall
and skinny with high center of gravity and small base. The ball drive mechanism
is a four motor inverse mouse-ball setup. An Inertial Measuring Unit (IMU) and
encoders on the motors provide all information needed for full-state feedback.
Ballbot has three legs that provide static stability when powered down and is
capable of auto-transitioning from the statically stable state to the
dynamically stable state and vice versa. It is also capable of yaw rotation
about its vertical axis. An absolute encoder provides the relative angle
between the IMU and the ball drive unit.
We wish to demonstrate Human-Robot Physical Interaction with dynamically stable mobile robots using Ballbot as an example. The balancing controller on Ballbot is extremely robust to disturbances like shoves, kicks and collisions with furniture and wall. Due to its dynamic stability, Ballbot can be moved around with very little effort. Physically directing a heavy statically stable mobile robot can be a difficult task, whereas Ballbot can be moved around with just a single finger. Similarly, while moving, Ballbot can be stopped with very little effort. We have developed some basic behaviors that enable Ballbot to detect human intentions with the physical interaction it has using just the encoder and IMU data. For example, given a soft push, Ballbot tries to stick to its position on the floor, whereas, when given a hard push, it moves away from its current location and station-keeps at a different point on the floor. We also present our initial results in developing a Learn-Repeat behavior in Ballbot, where in during the Learn mode, the user drives Ballbot around and it remembers the path travelled, and during the Repeat mode, Ballbot attempts to repeat the path learnt. We are in the process of adding stereo cameras and laser range finders to the robot, which will help us explore and extend more areas of Human-Robot Interaction. Keywords: dynamically stable mobile robots, human-robot physical interaction | |||
| Anthropomorphization method using attachable humanoid parts | | BIBAK | Full-Text | 207-208 | |
| Hirotaka Osawa; Ren Ohmura; Michita Imai | |||
| With this video, we propose a new human-robot interaction that
anthropomorphizes a target common object and transform it into a communicative
agent using attachable humanoid parts. The user perceives the target to have
its own intentions and body image through the attached body parts. This video
shows examples of anthropomorphization method as below.
First, the video shows the setup process of our method in which a demonstrator attaches each part, such as eye-like parts, arm-like parts, and camera to a common electric oven. The oven becomes a communicative robot by attaching these parts. Second, the video explains three applications -- self advertisement, self presentation, and interactive manual -- that are achieved by anthropomorphized objects. In the self advertisement situation, the anthropomorphized oven attracts customers and explains its function by itself. This situation assumes that these devices are used in shops in future. In the self presentation situation, an anthropomorphized poster explains its contents by itself. There is no other explainer. This situation assumes that these devices are used on a poster presentation. In the interactive manual situation, an anthropomorphized printer explains its function interactively. This explanation is intuitive and understandable for children and elderly people. After third situation, this anthropomorphized printer is compared to an explanation from the humanoid robot Robovie through gaze direction analysis. In the Robovie situation, the guidance fails because the robot distracts from the target itself. However in the anthropomorphized printer situation, users can concentrate on the interaction. Last, we use an anthropomorphized shredder using eye-like parts, arm-like parts, and skin sensor. The shredder explains its interactive manual like in the printer situation. However in this interaction, this shredder detects the user's touch and proceeds with the interaction instead of waiting to detect voice. Keywords: anthropomorphization, human interface, human robot interaction | |||
| Roball interacting with children | | BIBAK | Full-Text | 209-210 | |
| Tamie Salter; Francois Michaud; Dominic Letourneau | |||
| This video shows a light hearted view of a rolling autonomous robot named
Roball. Roball is shown interacting with various children who age from 10
months old to teenagers at a high school. The clips show the different ways
children interact with Roball and also the different types of reactions the
children can have to Roball. Each clip was taken from a trial that was
conducted to investigate Child-Robot Interaction (CRI).
First we see the different reactions of young children (tikes) aged between 2 to 4 years. We see them laughing, chasing Roball, dancing to music that Roball is playing and also running away from Roball. It is possible to see how active this age group can be in there interaction. Next we see a 10 month old toddler enjoying hitting Roball and then we see this child apparently showing some form of affection to Roball. Then after watching Roball bang into a door we see the toddler copy the behaviour by also banging into the door. Proceeding is the very different style of interaction from teenagers. Despite Roball gaining a lot of interest the actual physical contact or interaction is much lower. We see the robot being purposefully kicked and also a teenager pretending to kick Roball in a show of bravado. Finally we see the dangers of being a rolling robot when in the presence of a group of teenagers, as Roball through random wandering rolls into the path of a group of teenagers walking at high speeds. Although this is a lighthearted view there are still many important CRI factors that can be gained from watching the footage. Keywords: child-robot interaction (CRI), experimentation in the wild, human-robot
interaction (HRI) | |||
| The SantaBot experiment: a pilot study of human-robot interaction | | BIBAK | Full-Text | 211-212 | |
| Søren Tranberg Hansen; Mikael Svenstrup; Hans Jørgen Andersen; Thomas Bak; Ole B. Jensen | |||
| The video shows how an autonomous mobile robot dressed as Santa Claus is
interacting with people in a shopping mall. The underlying hypothesis is that
it is possible to create interesting new living spaces and induce value in
terms of experiences, information or economics, by putting socially interactive
mobile agents into public urban transit area. To investigate the hypothesis, an
experiment was carried out using a robot capable of navigating autonomously
based on the input of an onboard laser scanner. The robot would detect and
follow random people, who afterwards were asked to fill out a questionnaire for
quantitative analysis of the experiment. The presented video is the
corresponding video documentation of the experiment used in the evaluation. The
results showed that people were generally positive towards having mobile robots
in this type of environment where shopping is combined with transit. However,
it also showed harder than expected to start interaction with commuters due to
their determination and speed towards their goal. Further it was demonstrated
that it was possible to track and follow people, who were not beforehand
informed on the experiment. The evaluation indicated, that the distance to
initiate interaction was shorter than initially expected, but complies with the
distance for normal human to human interaction. Keywords: human-robot interaction, mobile robotics, pilot study, transit space | |||
| Emotion induction during human-robot interaction | | BIBAK | Full-Text | 213-214 | |
| Cornelia Wendt; Michael Popp; Berthold Faerber | |||
| The aim of the presented study was to measure physiological correlates of
emotions that are of particular interest in the field of human-robot
interaction (HRI). Therefore, we did not focus on self-induced basic emotions
but rather evoked states that might occur naturally in this context. Our video
shows how such states (namely stress, boredom, surprise, and perplexity) were
elicited during a joint construction task with an industrial robot (see figure
1). Participants were asked to build different LEGO objects, while the robot
arm was passing the bricks with predetermined velocity. States of stress and
boredom were generated by varying the handover interval from 3 seconds (stress)
to 5 seconds (normal working condition) up to 35 seconds (boredom). Surprise
was induced by passing an unexpected component. At the end of the experiment,
we additionally wanted to know how people react if the robot seems to tease
them by repeatedly changing the handover position.
This experiment was realized by the support of researchers from the MMK and the IWB of the Technical University Munich who provided the technical facilities and know-how. The underlying project is supported within the DFG excellence initiative research cluster Cognition for Technical Systems -- CoTeSys, see also www.cotesys.org. Keywords: emotion recognition, human-robot interaction, joint construction, stress
induction | |||
| Human-robot interaction for 3D telemanipulated fracture reduction | | BIBAK | Full-Text | 215-216 | |
| Ralf Westphal; Simon Winkelbach; Thomas Goesling; Markus Oszwald; Tobias Huefner; Christian Krettek; Friedrich M. Wahl | |||
| Today, femoral shaft fractures are usually stabilized by means of
intramedullary nails. This video presents the development of a telemanipulator
system, which, by supporting the fracture reduction process, aims at achieving
reliable operation results with high reduction accuracies. First, we present a
system using 2D X-ray images as base information for the surgeon to guide the
reduction. We show the advantages but also the limitations of this approach,
which finally led to the development of a telemanipulator system that is based
on 3D imaging data instead. Keywords: force feedback, fracture reduction, haptics, surgical navigation, surgical
robotics, telemanipulation | |||
| Can users react toward an on-screen agent as if they are reacting toward a robotic agent? | | BIBAK | Full-Text | 217-218 | |
| Takanori Komatsu; Nozomi Kuki | |||
| Our former study showed that users tended not to react to an on-screen
agent's invitation of a Shiritori game (a last and first game), but did to a
robotic agent. Thus, the purpose of this study was to investigate the
contributing factors that could make the users react toward an on-screen agent
as if they were reacting toward a robotic agent. The results showed that the
participants who first accepted the invitation of a robotic agent that was
assigned an attractive character reacted toward the on-screen agents as if they
were reacting to the robotic one. Keywords: on-screen agent, robotic agent, shiritori game | |||
| Individualization of voxel-based hand model | | BIBAK | Full-Text | 219-220 | |
| Albert J. Causo; Mai Matsuo; Etsuko Ueda; Yoshio Matsumoto; Tsukasa Ogasawara | |||
| Improvements in hand pose estimation, made possible by refining the model
matching step, is necessary in creating a more natural human-robot interface.
Individualizing the 3D hand model of the user can result to a better hand pose
estimation. This paper presents a way to accomplish the individualization by
estimating the length of the finger links (bones), which is unique for every
user. The 3D model of the hand is made up of voxel data derived from silhouette
images obtained by multiple cameras and the finger link is estimated by
searching a set of models generated from the calibration motion of the fingers.
Initial pose estimation result using the model shows the feasibility of the
system. Keywords: hand model, hand pose estimation, multi camera system, voxel | |||
| Robots with projectors: an alternative to anthropomorphic HRI | | BIBAK | Full-Text | 221-222 | |
| Jongkyeong Park; Gerard Jounghyun Kim | |||
| Current forms of Human Robot Interaction (HRI) pursue mostly
anthropomorphism and direct interaction. That is, the interaction paradigm is
based on imitating how "people" interact with one another (e.g. using spoken
language, gestures, facial expression, etc.). However, "direct"
interaction/contact with the "robot," often causes significant inconvenience
and usability problems. In this paper, we present an alternative to the
anthropomorphic interface using a projected display and indirect, yet already
familiar GUI based interaction. That is, the projector (on the moving robot)
projects information on the nearby surface and provides a relatively large area
through which indirect GUI based interaction can occur. As an instance of such
an HRI paradigm, we present a moving robot kiosk that projects displays around
itself and serve and interact with multiple people at once. We report our
on-going development efforts and a pilot experimental study that compares it to
the typical touch screen based direct HRI. Keywords: anthropomorphism, human robot interaction, indirect/direct interaction,
large display, projector | |||
| comforTABLE: a robotic environment for aging in place | | BIBAK | Full-Text | 223-224 | |
| Keith Evan Green; Ian D. Wakjer; Johnell O. Brooks; Tarek Mohktar; Linnea Smolentzov | |||
| While high-technology has become pervasive in hospitals, domestic
environments remain essentially low-tech and conventional, despite the care
needs of an aging population wishing to age in place. In response, an
interdisciplinary team -- robotics engineer, architect, human factors
psychologist and gerontologist -- are designing, constructing, field testing,
and evaluating comforTABLE, an intelligent environment for aging in place.
comforTABLE is designed to increase the quality of life of both healthy
individuals as well as persons with impaired mobility by intelligently
supporting the physical organization of their immediate environment. While
comforTABLE features intelligent behavior and robotic elements, comforTABLE
aims to help people do things for themselves. This paper introduces the
motivations for comforTABLE, presents its three intelligent, networked
components and describes scenarios of how the system might operate in domestic
situations. Keywords: aging in place, architectural design, gerontology, human factors,
intelligent environments, robotics | |||
| In-home telehealth clinical interaction using a robot | | BIBAK | Full-Text | 225-226 | |
| Simon Brière; Patrick Boissy; Francois Michaud | |||
| Providing healthcare in remote locations can prove to be costly. Using a
static videoconference system in the patient's home has its limitations. A
remotely operated mobile robot platform could provide a better interaction with
the patient located at home. This paper presents Telerobot, a teleoperated
mobile robotic platform equipped with videoconferencing capabilities. Developed
by a team of roboticists and clinical experts, the system is designed
specifically for the provision of in-home telerehabilitation services. A
usability study was done in order to qualify the robot user control scheme and
the clinician-patient interaction. Keywords: clinical interaction, in home telerehabilitation, mobile robotics, mobile
telepresence, usability | |||
| A leader-follower turn-taking model incorporating beat detection in musical human-robot interaction | | BIBAK | Full-Text | 227-228 | |
| Gil Weinberg; Brian Blosser | |||
| This paper describes the implementation of a leader-follower model in a
musical HRI based on beat detection analysis and a novel turn taking scheme.
The project enables Haile, a robotic percussionist, to fluidly interact with
humans in the context of an improvisatory jam session. The long-term goal of
this work is to facilitate dynamic interactions between humans and machines
that will lead to novel and inspiring musical outcomes. Keywords: beat-detection, human-robot interaction, leader-follower paradigm, machine
listening, robotic musicianship | |||
| Planning as an architectural control mechanism | | BIBAK | Full-Text | 229-230 | |
| Nick Hawes; Michael Brenner; Kristoffer Sjöö | |||
| We describe recent work on PECAS, an architecture for intelligent robotics
that supports multi-modal interaction. Keywords: architecture, integration, planning, robotics | |||
| Influences of concerns toward emotional interaction into social acceptability of robots | | BIBK | Full-Text | 231-232 | |
| Tatsuya Nomura; Takayuki Kanda; Tomohiro Suzuki; Sachie Yamada; Kensuke Kato | |||
Keywords: human-robot interaction, negative attitudes, social acceptance | |||
| Interactive jamming with Shimon: a social robotic musician | | BIBAK | Full-Text | 233-234 | |
| Gil Weinberg; Aparna Raman; Trishul Mallikarjuna | |||
| The paper introduces Shimon: a socially interactive and improvisational
robotic marimba player. It presents the interaction schemes used by Shimon in
the realization of an interactive musical jam session among human and robotic
musicians. Keywords: beat, haile, improvisation, interaction, jam, marimba, markov, melody,
music, rhythm, robot, shimon, social | |||
| Human-robot interaction observations from a proto-study using SUAVs for structural inspection | | BIBK | Full-Text | 235-236 | |
| Maarten van Zomeren; Joshua M. Peschel; Timothy Mann; Gabe Knezek; James Doebbler; Jeremy Davis; Tracy A. Hammond; Augustinus H. J. Oomes; Robin R. Murphy | |||
Keywords: (s)UAV, human robot interaction, interface, rescue robotics | |||
| What are the benefits of adaptation when applied in the domain of child-robot interaction? | | BIBAK | Full-Text | 237-238 | |
| Tamie Salter; Francois Michaud; Dominic Létourneau | |||
| There is great potential for robotic devices when being applied with
children. They can be used from play to assistive applications. We develop
robotic devices for a diverse range of children that differ in age, gender and
ability, which includes children that are diagnosed with cognitive difficulties
such as autism. Every child is an individual and they vary in their
personalities and styles of interaction. Therefore, being able to adjust the
robot's behaviour to the type of interaction it is receiving was believed to be
essential. In this abstract we examine a series of trials which investigated
how adaptation (through changes in motion and sound) on a fully autonomous
rolling robot could help gain and sustain the interest of five different
children. We discovered surprising benefits to having adaptation on-board
Roball. Keywords: adaptive mobile robots, child-robot interaction (CRI), experimentation in
the wild, human-robot interaction (HRI) | |||
| Making sense of agentic objects and teleoperation: in-the-moment and reflective perspectives | | BIBAK | Full-Text | 239-240 | |
| Leila Takayama | |||
| Agentic objects are those entities that are perceived and responded to
in-the-moment as if they were agentic despite the likely reflective perception
that they are not agentic at all. They include autonomous robots, but also
simpler systems like automatic doors, trashcans, and staplers -- anything that
seems to possess agency. It is well known that low-level spatiotemporal
information elicits in-the-moment responses that are interpreted as perceiving
mentalism [8, 17], but people reflectively believe that there is a distinction
between human and non-human agents. How are we to make sense of these agentic
objects? Keywords: agentic object, human-robot interaction, in-the-moment, perceived agency,
teleoperation | |||
| Cognitive architecture for perception-reaction intelligent computer agents (CAPRICA) | | BIBAK | Full-Text | 241-242 | |
| Dustin B. Chertoff; Sandy Vanderbleek; Stephen M. Fiore; Shaun Gallagher | |||
| In this paper, we introduce a cognitive agent architecture that can be used
in the study of Human-Robot Interaction. The Cognitive Architecture for
Perception-Reaction Intelligent Computer Agents (CAPRICA) is an extensible
agent library built around the ideas of theory of mind, episodic memory, and
embodied cognition. Existing agent research in each of these areas was used to
formulate design requirements. We provide an overview of the library's design
and discuss future work in progress. Keywords: cognitive agents, embodied cognition, episodic memory, theory of mind | |||
| System design of group communication activator: an entertainment task for elderly care | | BIBAK | Full-Text | 243-244 | |
| Yoichi Matsuyama; Hikaru Taniyama; Shinya Fujie; Tetsunori Kobayashi | |||
| Our community is facing serious Aging Society especially in Japan.
We have investigated in one of daycare centers which are facilities for elderly care. As the result, we realized that communication is needed for its own sake in these facilities and active communication can cure even depression and dementia. Therefore we propose to cope with these problems using a robot as a communication activator in order to improve group communication. We define group communication as one of types of communication which is formed by several persons. This time, we focus on a recreation game named "Nandoku". Nandoku is a quiz which can be described as group communication with a master of ceremony (MC). The system always selects its behavior and target (a participant in the game) to maximize "communication activeness." Communication activeness is defined as amount of several panelists'(ordinary three: A, B, C) participation, which are calculated with panelists' face direction using camera information. For instance, if participant A is not fully participating by not making eye contact, the system is expected to select one of the behaviors such as "Can you answer, Mr.A?" to encourage A to participate in the game. We experimented with the system in a daycare center. As the result, obvious increase in participation was observed. That offers evidence that the robot can serve a practical role in improving the group communication as a communication activator especially for entertainment use. Keywords: group communication | |||
| How anthropomorphism affects empathy toward robots | | BIBAK | Full-Text | 245-246 | |
| Laurel D. Riek; Tal-Chen Rabinowitch; Bhismadev Chakrabarti; Peter Robinson | |||
| A long-standing question within the robotics community is about the degree
of human-likeness robots ought to have when interacting with humans. We explore
an unexamined aspect of this problem: how people empathize with robots along
the anthropomorphic spectrum. We conducted an experiment that measured how
people empathized with robots shown to be experiencing mistreatment by humans.
Our results indicate that people empathize more strongly with more
human-looking robots and less with mechanical-looking robots. Keywords: anthropomorphism, emotion, empathy, human-robot interaction, simulation
theory, theory of mind | |||
| Responsiveness to robots: effects of ingroup orientation & communication style on hri in china | | BIBAK | Full-Text | 247-248 | |
| Lin Wang; Pei-Luen Patrick Rau; Vanessa Evers; Benjamin Robinson; Pamela Hinds | |||
| This study investigates the effects of group orientation and communication
style on Chinese subjects' responsiveness to robots. A 2x2 experiment was
conducted with group orientation (ingroup vs. outgroup) and communication style
(implicit vs. explicit) as dimensions. The results confirm expectations that
subjects with a Chinese cultural background are more responsive to robots that
use implicit communication styles. We also found some evidence that subjects
were more responsive when they thought of the robot as an ingroup member. These
findings inform the design of robots for use in China and countries with
similar cultural values and reinforce the importance of culturally sensitive
design in HRI. Keywords: communication style, human robot interaction, relationship | |||
| Tele-operators' judgments of their ability to drive through apertures | | BIBAK | Full-Text | 249-250 | |
| Keith S. Jones; Elizabeth A. Schmidlin; Brian R. Johnson | |||
| It has been suggested that operators should base decisions to enter
apertures on their ability to control the robot, rather than its static
dimensions. Doing so, however, assumes that operators know whether they can
drive a robot through the aperture. The present study tested that assumption.
Results indicated that judgments about control of the robot were not accurate.
In contrast, judgments of static dimensions were accurate. Thus, operators will
require support if they must base decisions to enter apertures on their ability
to control that robot. Keywords: affordance, aperture, human-robot interaction, tele-operation | |||
| Distinguishing defaults and second-line conceptualization in reasoning about humans, robots, and computers | | BIBAK | Full-Text | 251-252 | |
| Daniel T. Levin; Megan M. Saylor | |||
| In previous research, we demonstrated that people distinguish between human
and nonhuman intelligence by assuming that humans are more likely to engage in
intentional goal-directed behaviors than computers or robots. In the present
study, we tested whether participants who respond relatively quickly when
making predictions about an entity are more or less likely to distinguish
between human and nonhuman agents on the dimension of intentionality.
Participants responded to a series of five scenarios in which they chose
between intentional and nonintentional actions for a human, a computer, and a
robot. Results indicated that participants who chose quickly were more likely
to distinguish human and nonhuman agents than participants who deliberated more
over their responses. We suggest that the short-RT participants were employing
a first-line default to distinguish between human intentionality and more
mechanical nonhuman behavior, and that the slower, more deliberative
participants engaged in deeper second-line reasoning that led them to change
their predictions for the behavior of a human agent. Keywords: HRI, theory of mind | |||
| Probo: a testbed for human robot interaction | | BIBAK | Full-Text | 253-254 | |
| Kristof Goris; Jelle Saldien; Dirk Lefeber | |||
| The concept of the huggable robot Probo is a result of the desire to improve
the living conditions of children in hospital environment. These children need
distraction and lots of information. In this paper the concept of a new social
robot is presented. This robot can be used in hospitals, as a tele-interface
for entertainment, communication and medical assistance.
Besides the prototype of the real robot, a virtual model has been developed. With user friendly software these models can be used as an interface between an operator and a child. That way, Probo becomes a platform for experiments concerning human robot interaction with great opportunities in different disciplines. Keywords: human robot interaction, robotics, user interface | |||
| r-Learning services for elementary school students with a teaching assistant robot | | BIBAK | Full-Text | 255-256 | |
| Jeonghye Han; Dongho Kim | |||
| The r-Learning paradigm with educational robots is emerging as a part of
e-Learning, which means using technology for learning. This study on using
robots as a teaching assistant robot opened the possibility of r-Learning for
English in classroom. We found that children like robot services for personal
relationship in class and teachers prefer them related to their convenience to
manage the lesson. Related robot services such as praising and cheering up or
calling the roll are the effective way for motivating children to learn,
enhancing the relationship between TIRO and children. We are going on
conducting further field trials for new scenarios and services that motivate
children and make them concentrate on class with teachers, pre-teachers,
children, parents, robotic researchers, social scientists, etc. Keywords: e-learning, personal relationship, r-learning, robot service, teaching
assistant robot | |||
| Autonomous vs. tele-operated: how people perceive human-robot collaboration with hrp-2 | | BIBAK | Full-Text | 257-258 | |
| Astrid Weiss; Daniela Wurhofer; Michael Lankes; Manfred Tscheligi | |||
| Effective collaboration between robots and humans is not only a question of
interface design and usability, but also of user experience and social
acceptance. To investigate these aspects for Human-Robot Collaboration with the
HRP-2 robot, two video-based focus groups enhanced with creative stimuli were
conducted. The following research question was addressed: Is the HRP-2 robot
perceived differently in an autonomous collaboration condition compared to a
tele-operated collaboration condition, in terms of social acceptance and user
experience?"The results show that participants in general are open to a
humanoid robot as working partner as long as there is a clear distinction
between a human and a robot, in terms of tasks and working procedures.
Furthermore, participants stated a positive attitude toward the
remotely-controlled HRP-2 robot. Keywords: autonomous, evaluation, focus group, humanoid, social acceptance,
tele-operated, user experience | |||
| I would choose the other card: humanoid robot gives an advice | | BIBAK | Full-Text | 259-260 | |
| Astrid Weiss; Roland Buchner; Thomas Scherndl; Manfred Tscheligi | |||
| This article reports on a user study conducted to asses the credibility of a
humanoid robot. The study set-up was based on the "Monty Hall Problem. Overall
13 people between the ages of 19 and 84 took part in the study (7 male and 6
female). The experiment was set up as a card-game where the participant had to
guess which of the three cards shows a price. At one point of the experiment
the robot advised the participant to change his/her mind and choose another
card. During the user study the participants had to fill in a questionnaire on
their level of certainty about their choice and the credibility of the robot.
The results showed a significant correlation between the believability of the
robot and the certainty in the decision made. Furthermore, the outcomes showed
differences between participants who followed the robot's advise and
participants who did not, regarding credibility, certainty of the decision made
and the estimation whether the robot was helpful or not. Keywords: credibility, monty hall problem, uncertain knowledge, user study | |||
| Evaluating the ICRA 2008 HRI challenge | | BIBAK | Full-Text | 261-262 | |
| Astrid Weiss; Thomas Scherndl; Manfred Tscheligi; Aude Billard | |||
| This paper reports on the evaluation of the ICRA 2008 Human-Robot
Interaction (HRI) Challenge. Five research groups demonstrated state-of-the-art
work on HRI with a special focus on social and learning abilities. The
demonstrations were rated by expert evaluators, in charge of awarding the
prize, and 269 participants, i.e. 20 percent of the conference attendees
through a standardized questionnaire (semantic differential). The data was
analyzed with respect to six independent variables: expert evaluators vs.
attendees, nationality of participants, origin region of the demo, age, gender
and knowledge level of the attendees. Conference attendees tended to give
higher scores for Social Skills, General Impression, and Overall Score than the
expert evaluators. Irrespectively of the level of knowledge, age, and gender,
conference attendees rated all demos relatively homogeneously. However, a
comparative analysis of the conference attendees's ratings nationality-wise
showed that demonstrations were rated differently depending on the region of
origin. Conference attendees for the USA and Asian countries tended to rate
demos from the same country of origin more frequently and more positively. Keywords: evaluation, expert evaluation, human-robot interaction challenge, user-based
evaluation | |||
| Using bio-electrical signals to influence the social behaviours of domesticated robots | | BIBAK | Full-Text | 263-264 | |
| Paul Saulnier; Ehud Sharlin; Saul Greenberg | |||
| Several emerging computer devices read bio-electrical signals (e.g.,
electro-corticographic signals, skin biopotential or facial muscle tension) and
translate them into computer-understandable input. We investigated how one
low-cost commercially-available device could be used to control a domestic
robot. First, we used the device to issue direct motion commands; while we
could control the device somewhat, it proved difficult to do reliably. Second,
we interpreted one class of signals as suggestive of emotional stress, and used
that as an emotional parameter to influence (but not directly control) robot
behaviour. In this case, the robot would react to human stress by staying out
of the person's way. Our work suggests that affecting behaviour may be a
reasonable way to leverage such devices. Keywords: bio-electric signals, emotional control, emotional instrument, iRobot
Roomba, OCZ NIA, robots | |||
| A robot that says bad!: using negative and positive social feedback from a robotic agent to save energy | | BIBAK | Full-Text | 265-266 | |
| Jaap Ham; Cees Midden | |||
| Two experiments explored the persuasive effects of social feedback, as
provided by a robotic agent, on behavioral change. Results indicate stronger
persuasive effects of social feedback than of factual feedback (Experiment 1)
or factual evaluative feedback (Experiment 2), and of negative feedback
(especially social but also factual) than of positive feedback. Keywords: embodied agents, persuasion, social feedback, social robotics | |||
| Formal verification of human-robot teamwork | | BIBAK | Full-Text | 267-268 | |
| Rafael H. Bordini; Michael Fisher; Maarten Sierhuis | |||
| We here address the modelling and analysis of human-agent teamwork,
specifically in the context of proposed astronaut-robot collaboration in future
space missions. We are particularly interested in modelling such systems at a
level that allows formal verification techniques to be applied, and hence carry
out sophisticated analysis of the reliability and effectiveness of the teams
before the system is deployed in real scenarios. In this paper we describe our
ongoing research in this area. Keywords: agent-based modelling, teamwork, verification | |||
| Transactive memory systems: a perspective on coordination in human-robot incident response teams | | BIBAK | Full-Text | 269-270 | |
| Lei Liu; Pamela J. Hinds | |||
| This paper introduces Transactive Memory System (TMS) theory to the study of
human-robot interaction in a complex work setting comprised of people with
complementary domains of expertise. New insights regarding the development of
TMS in human-robot incident response teams are presented. Keywords: human-robot interaction, transactive memory systems (TMS) | |||
| Robot-directed speech as a means of exploring conceptualizations of robots | | BIBAK | Full-Text | 271-272 | |
| Sarah Kriz; Gregory Anderson; Magdalena Bugajska; J. Gregory Trafton | |||
| Decades of research have shown that speakers adapt the way in which they
speak to meet the needs of listeners, and that speech modifications can
illuminate speakers' conceptualizations of their listeners' cognitive and
communicative abilities. The present study extends this line of research into
human-robot communication by analyzing the linguistic features of commands
given to a robotic dog. The results indicate that males and females differed in
the way in which they spoke to the robot, suggesting that there was not a
uniform expectation of the robot's communicative capacities. Keywords: HRI communication | |||
| FaceBots: robots utilizing and publishing social information in facebook | | BIBAK | Full-Text | 273-274 | |
| Nikolaos Mavridis; Chandan Datta; Shervin Emami; Andry Tanoto; Chiraz BenAbdelkader; Tamer Rabie | |||
| Our project aims at supporting the creation of sustainable and meaningful
longer-term human-robot relationships through the creation of embodied robots
with face recognition and natural language dialogue capabilities, which exploit
and publish social information available on the web (Facebook). Our main
underlying experimental hypothesis is that such relationships can be
significantly enhanced if the human and the robot are gradually creating a pool
of shared episodic memories that they can co-refer to (shared memories), and if
they are both embedded in a social web of other humans and robots they both
know and encounter (shared friends). In this paper, we are presenting such a
robot, which as we will see achieves two significant novelties. Keywords: conversational robots, human-robot interaction, social robots | |||
| The effects of robot touch and proactive behaviour on perceptions of human-robot interactions | | BIBAK | Full-Text | 275-276 | |
| Henriette S. M. Cramer; Nicander A. Kemper; Alia Amin; Vanessa Evers | |||
| Despite robots' embodiment, the effect of physical contact or touch and its
interaction with robots' autonomous behaviour has been a mostly overlooked
aspect of human-robot interaction. This video-based, 2x2 between-subject survey
experiment (N=119) found that touch and proactiveness interacted in their
effects on perceived machine-likeness and dependability. Attitude towards
robots in general also interacted with the effects of touch. Results show the
value of further exploring the combination of physical aspects of human-robot
interaction and proactiveness. Keywords: autonomy, human-robot interaction, proactiveness, touch | |||
| Towards a design method for expressive robots | | BIBAK | Full-Text | 277-278 | |
| Bernt Meerbeek; Martin Saerbeck; Christoph Bartneck | |||
| Autonomous robots tend to induce the perception of a personality through
their behavior and appearance. It has been suggested that the personality of a
robot can be used as a design guideline and as a mental model of the robot. We
propose a method to design and evaluate personality and expressions for
domestic robots. Keywords: animacy, anthropomorphism, design method, expression, human-robot
interaction, product personality, robot behavior | |||
| Are we living in a robot cargo cult? | | BIBAK | Full-Text | 279-280 | |
| Ylva Fernaeus; Mattias Jacobsson; Sara Ljungblad; Lars Erik Holmquist | |||
| We use the Cargo Cult metaphor to discuss visions, methods and communication
of robot research. Essentially cargo cult involves performing of imitative
rituals that are conducted without understanding the underlying cause of a
phenomenon. We discuss how this is an ongoing challenge within the field of
HRI, and what researchers could do to avoid contributing to a robotic cargo
cult. Keywords: human-robot interaction, robotics research, robots in popular culture | |||
| Human-robot physical interaction with dynamically stable mobile robots | | BIBAK | Full-Text | 281-282 | |
| Umashankar Nagarajan; George Kantor; Ralph L. Hollis | |||
| Human-Robot Physical Interaction is an important attribute for robots
operating in human environments. The authors illustrate some basic physically
interactive behaviors with dynamically stable mobile robots using the ballbot
as an example. The ballbot is a dynamically stable mobile robot moving on a
single spherical wheel. The dynamic stability and robust controllers enable the
ballbot to be physically moved with ease. The authors also demonstrate other
behaviors like human intent detection and learn-repeat behavior on the real
robot. Keywords: dynamically stable mobile robots, human-robot physical interaction | |||
| Hardware-assisted multiple object tracking for human-robot-interaction | | BIBK | Full-Text | 283-284 | |
| Claus Lenz; Giorgio Panin; Thorsten Röder; Martin Wojtczyk; Alois Knoll | |||
Keywords: GPU, HRI, joint-action, model-based tracking | |||
| Human-in-the-loop control of an assistive robotic arm in unstructured environments for spinal cord injured users | | BIBAK | Full-Text | 285-286 | |
| Dae-Jin Kim; Aman Behal | |||
| We describe the progress in implementing a vision based robotic assist
device to facilitate Activities of Daily Living (ADL) tasks for a class of
users with motor disabilities. The goal of the research is to reduce time to
task completion and cognitive burden for users interacting with an unstructured
environment via a Wheelchair Mounted Robotic Arm (WMRA). A developed robot
system is tested with five healthy subjects to assess its usefulness. Keywords: assistive robots, control architecture, experimental | |||
| Bandwidth allocation in a military teleoperation task | | BIBAK | Full-Text | 287-288 | |
| Alia Fisher; Patricia L. McDermott; Shane Fagan | |||
| The implications of bandwidth allocation are described for teleoperation in
a military task that involved navigation, target detection, and target
identification. Color versus grayscale imagery was manipulated. Participants
themselves traded off resolution and frame rate settings. Participants
minimized switching between resolution/frame rate settings and tended to use
settings with high resolution/low frame rate. Courses completed with the
highest resolution (and lowest frame rate) had the fastest target
identification times, but no other differences were observed between settings.
Color imagery offered advantages for overall course time and the time to
identify a tank as friendly or enemy. Keywords: color, frame rate, greyscale, human-robot interaction, resolution,
teleoperation | |||
| General visualization abstraction algorithm for geographic map-based human-robot interfaces | | BIBAK | Full-Text | 289-290 | |
| Curtis M. Humphrey; Julie A. Adams | |||
| This paper presents a novel visualization technique that provides
integration, abstraction, and sharing of the information generated by remotely
deployed robots or sensors. The General Visualization Abstraction (GVA)
algorithm is designed to display the most useful information items at any
moment by determining an importance value for each information item with a
focus on two classes of information: historically relevant and currently
relevant information, and novel and emerging information. Keywords: GIS, human-robot interfaces (HRI), information abstraction | |||
| Preliminary results: humans find emotive non-anthropomorphic robots more calming | | BIBAK | Full-Text | 291-292 | |
| Cindy L. Bethel; Kristen Salomon; Robin R. Murphy | |||
| This paper describes preliminary results of a large-scale, complex human
study in HRI in which results show that participants were calmer interacting
with non-anthropomorphic robots operated in an emotive mode versus a standard,
non-emotive mode. Keywords: affective computing, affective robotics, doubly multivariate analysis,
experimental design, human-robot interaction, urban search and rescue robotics,
victim management | |||
| Where third wave HCI meets HRI: report from a workshop on user-centred design of robots | | BIBAK | Full-Text | 293-294 | |
| Ylva Fernaeus; Sara Ljungblad; Mattias Jacobsson; Alex Taylor | |||
| In this report we discuss some of the challenges when applying a
user-centred design approach in the field of human-robot interaction (HRI). The
discussion is based on a one-day workshop at the NordiCHI'08 conference,
investigating how methods, techniques and perspectives from the field of Human
Computer Interaction (HCI) could contribute to and learn from recent
developments in the area of HRI. Emphasis was put on topics that are infrequent
in mainstream HCI such as machine movement, autonomy, anthropomorphism,
physical interaction, environmental issues and issues concerned more generally
with cultural notions of robots. Keywords: 3rd wave human-computer interaction, human-robot interaction | |||
| Robot motivator: improving user performance on a physical/mental task | | BIBAK | Full-Text | 295-296 | |
| Juan Fasola; Maja J. Mataric | |||
| We describe the design and implementation of a socially assistive robot that
is able to monitor the performance of a user during a combined mental and
physical task, with the purpose of motivating the user to complete the task and
to improve performance. A three-condition experimental study was constructed
for evaluation of the robot and preliminary results of the robot's interaction
with human participants are presented. Keywords: human-robot interaction, motivation, socially assistive robotics | |||
| Music therapist robot for individuals with cognitive impairments | | BIBAK | Full-Text | 297-298 | |
| Adriana Tapus; Cristian Tapus; A Maja J. Mataric | |||
| Currently the 2 percent growth rate for the world's older population exceeds
the 1.2 percent rate for the world's population as a whole. This difference is
expected to increase rather than diminish so that by 2050, the number of
individuals over the age 85 is projected to be three times what it is today.
Most of these individuals will need physical, emotional, and cognitive
assistance. In this paper, we present a new system based on the socially
assistive robotics (SAR) technology that will play the role of a music
therapist and will try to provide a customized help protocol through
motivation, encouragements, and companionship to users suffering from cognitive
changes related to aging and/or Alzheimer's disease. Keywords: adaptive systems, assistive robotics, machine learning | |||
| A preliminary system for recognizing boredom | | BIBAK | Full-Text | 299-300 | |
| Allison M. Jacobs; Benjamin Fransen; J. Malcolm McCurry; Frederick W. P. Heckel; Alan R. Wagner; J. Gregory Trafton | |||
| A 3D optical flow tracking system was used to track participants as they
watched a series of boring videos. The video stream of the participants was
rated for boredom events. Ratings and head position data were combined to
predict boredom events. Keywords: human-robot interaction | |||
| Situated messages for asynchronous human-robot interaction | | BIBAK | Full-Text | 301-302 | |
| Nicolai Marquardt; James Young; Ehud Sharlin; Saul Greenberg | |||
| An ongoing issue in human robot interaction (HRI) is how people and robots
communicate with one another. While there is considerable work in real-time
human-robot communication, fairly little has been done in asynchronous realm.
Our approach, which we call situated messages, lets humans and robots
asynchronously exchange information by placing physical tokens -- each
representing a simple message -- in meaningful physical locations of their
shared environment. Using knowledge of the robot's routines, a person can place
a message token at a location, where the location is typically relevant to
redirecting the robot's behavior at that location. When the robot passes nearby
that location, it detects the message and reacts accordingly. Similarly, robots
can themselves place tokens at specific locations for people to read. Thus
situated messages leverages embodied interaction, where token placement
exploits the everyday practices and routines of both people and robots. We
describe our working prototype, introduce application scenarios, explore
message categories and usage patterns, and suggest future directions. Keywords: RFID, asynchronous interaction, human-robot interaction, situated messages | |||
| Multi-sensor fusion for human daily activity recognition in robot-assisted living | | BIBAK | Full-Text | 303-304 | |
| Chun Zhu; Weihua Sheng | |||
| In this paper, we propose a human activity recognition method by fusing the
data from two wearable inertial sensors attached to one foot and the waist of a
human subject, respectively. Our multi-sensor fusion based method combines
neural networks and hidden Markov models (HMMs), and can reduce the computation
load. We conducted experiments using a prototype wearable sensor system and the
obtained results prove the effectiveness and the accuracy of our algorithm. Keywords: activity recognition, assisted living, sensor fusion, wearable sensor | |||
| Focus group interview for designing a growing robot | | BIBAK | Full-Text | 305-306 | |
| Ryoung Kim; Sona S. Kwak; Youn-kyung Lim; Myung-suk Kim | |||
| This study describes preliminary research for designing a growing robot. To
explore the interaction between a human and an object that changes physically
through its growth, focus group interviews were conducted with participants who
kept pets, plants, and a plant-like product. An appropriate target model for
designing a growing robot, the value of raising living things, and the features
of interaction that induce affinity were examined. Keywords: focus group interview, growing robot, social relationship | |||
| Sociable robot improves toddler vocabulary skills | | BIBAK | Full-Text | 307-308 | |
| Javier Movellan; Micah Eckhardt; Marjo Virnes; Angelica Rodriguez | |||
| We report results of a study in which a low cost sociable robot was immersed
at an Early Childhood Education Center for a period of 2 weeks. The study was
designed to investigate whether the robot, which operated fully autonomously
during the intervention period, could improve target vocabulary skills of 18-24
month of age toddlers. The results showed a 27% improvement in knowledge of the
target words taught by the robot when compared to a matched set of control
words. The results suggest that sociable robots may be an effective and low
cost technology to enrich Early Childhood Education environments. Keywords: algorithms, human factors, robotics, ubiquitous computing | |||
| A vision based human robot interface for robotic walkthroughs in a biotech laboratory | | BIBAK | Full-Text | 309-310 | |
| Martin Wojtczyk; Giorgio Panin; Claus Lenz; Thorsten Röder; Suraj Nair; Erwin Roth; Alois Knoll; Rüdiger Heidemann; Klaus Joeris; Chun Zhang; Mark Burnett; Tom Monica | |||
| Both Robots and Personal Computers established new markets about 30 years
ago and were enabling factors in Automation and Information Technology.
However, while you can see Personal Computers in almost every home nowadays,
the domain of Robots in general still is mostly restricted to industrial
automation. Due to the physical impact of robots, a safe design is essential,
which most robots still lack of and therefore prevent their application for
personal use, although a slow change can be noticed by the introduction of
dedicated robots for specific tasks, which can be classified as service robots.
Moreover, as more and more robots are designed as service robots, their
developers face the challenge of reducing the machines' complexity and
providing smart user interface methods. Ideally the robot would be able to
cooperate with a human, just like another human would. Keywords: HRI, lab automation, life sciences, model based tracking | |||
| On Line -- affective state reporting device: a tool for evaluating affective state inference systems | | BIBAK | Full-Text | 311-312 | |
| Susana Zoghbi; Dana Kuliff; Elizabeth Croft; Machiel Van der Loos | |||
| The monitoring of human affective state is a key part of developing
responsive and naturally behaving human-robot interaction systems. However,
evaluation and calibration of physiologically monitored affective state data is
typically done using offline questionnaires and user reports. In this paper we
investigate the use of an online-device for collecting real-time user reports
of affective state during interaction with a robot. These reports are compared
to both previous survey reports taken after the interaction, and the affective
states estimated by an inference system. The aim is to evaluate and
characterize the physiological signal-based inference system and determine
which factors significantly influence its performance. This analysis will be
used in future work, to fine tune the affective estimations by identifying what
kind of variations in physiological signals precede or accompany the variations
in reported affective states. Keywords: affective responses, affective state estimation, human responses to robots,
human-robot interaction, physiological signal monitoring | |||
| An uncanny game of trust: social trustworthiness of robots inferred from subtle anthropomorphic facial cues | | BIBAK | Full-Text | 313-314 | |
| Maya B. Mathur; David B. Reichling | |||
| Modern android robots have begun to penetrate the social realm of humans.
This study quantitatively probed the impact of anthropomorphic robot appearance
on human social interpretation of robot facial expression. The "Uncanny Valley"
theory describing the disturbing effect of imperfect human likenesses has been
a dominant influence in discussions of human-robot social interaction, but
measuring its effect on human social interactions with robots has been
problematic. The present study addresses this issue by examining social
responses of human participants to a series of digitally composed pictures of
realistic robot faces that span a range from mechanical to human in appearance.
Our first experiment provides evidence that an Uncanny Valley effect on social
attractiveness is indeed a practical concern in the design of robots meant to
interact socially with the lay public. In the second experiment, we employed
game-theory research methods to measure the effect of subtle facial expressions
in robots on human judgments of their trustworthiness as social counterparts.
Our application of game-theory research methods to the study of human-robot
interactions provides a model for such empirical measurement of human's social
responses to android robots. Keywords: android, anthropomorphism, facial expression, game theory, humanoid, social
interaction, uncanny valley | |||
| Incorporating active vision into the body schema | | BIBK | Full-Text | 315-316 | |
| Justin W. Hart; Eleanor R. Avrunin; David Golub; Brian Scassellati; Steven W. Zucker | |||
Keywords: robotic self modeling | |||
| The power of suggestion: teaching sequences through assistive robot motions | | BIBAK | Full-Text | 317-318 | |
| Ross Mead; A Maja J. Mataric | |||
| We present a preliminary implementation of a robot within the context of
social skills intervention. The robot engages a human user in an interactive
and adaptive game-playing session that emphasizes a specific sequence of
movements over time. Such games highlight joint attention and encourage forms
of interaction that are useful within various assistive domains. Noteworthy
robot activities include those that could be used to promote social cues in
children with autism, sequences that maintain or improve memory in Alzheimer's
patients, and movements that encourage exercises to increase range of motion in
post-stroke rehabilitation. Keywords: human-robot interaction, socially assistive robotics | |||
| CALLY: the cell-phone robot with affective expressions | | BIBAK | Full-Text | 319-320 | |
| Ji-Dong Yim; Christopher D. Shaw | |||
| This poster describes a robot cell-phone named CALLY with which we are
exploring the roles of facial and gestural expressions of robotic products in
the human computer interaction. We discuss non-verbal anthropomorphic affect
features as media for building emotional relationships between a user and a
product, and introduce new types of robotic products in the market that may be
capable of establish intimacy by applying such features. A couple of social
robot application ideas generated from the early phase of our project are also
presented with their usage scenarios and implementations. CALLY was used in our
initial participatory design workshop and helped participants generate new
application ideas. Keywords: mobile phone, non-verbal anthropomorphic affect features, robot | |||
| Relating initial turns of human-robot dialogues to discourse | | BIBAK | Full-Text | 321-322 | |
| Maxim Makatchev; Min Kyung Lee; Reid Simmons | |||
| Similarly, User models can be useful for improving dialogue management. In
this paper we analyze human-robot dialogues that occur during uncontrolled
interactions and estimate relations between the initial dialogue turns and
patterns of discourse that are indicative of such user traits as persistence
and politeness. The significant effects shown in this preliminary study suggest
that initial dialogue turns may be useful in modeling a user's interaction
style. Keywords: dialogue, human-robot interaction | |||
| HomeWindow: an augmented reality domestic monitor | | BIBAK | Full-Text | 323-324 | |
| Paul Lapides; Ehud Sharlin; Saul Greenberg | |||
| Computation is increasingly prevalent in the home: it serves as a way to
control the home itself, or it is part of the many digital appliances within
it. The question is: how can home inhabitants effectively understand and
control the digital home? Our solution lets a person examine and control their
home surroundings through a mobile display that serves as a 'magic lens', where
the detail shown varies with proximity. In particular, HomeWindow is an
augmented reality system that superimposes an interactive graphical interface
atop of physical but digital artifacts in the home. One can get an overview of
a room's computational state by looking through the display: the basic state of
all digital hot spots are shown atop their physical counterparts. As one
approaches a particular digital spot, more detailed information as well as a
control interface is shown using a semantic zoom. Our current implementation
works with two home devices. First, people can examine and remotely control the
status of mobile domestic robots. Second, people can discover the power
consumption of household appliances, where appliances are surrounded by a
colorful aura that reflects its current and historical energy use. Keywords: augmented reality, domestic computing ubiquitous computing., energy
awareness, human-robot interaction | |||
| Tea table, come closer to me | | BIBAK | Full-Text | 325-326 | |
| Vikas Reddy Enti; Rajesh Arumugam; Krishnamoorthy Baskaran; Bingbing Liu; Foo Kong Foong; Appadorai Senthil Kumar; Dee Meng Kang; Xiaojun Wu; Wai Kit Goh | |||
| We present a new concept (named DA vinCi) of distributed agents, sensor
networks and an intelligent server catered to the home environment. Instead of
a single multi-tasking human-like robot, we propose a team of networked
task-specific robotic agents that interface with each other and the environment
through a spatial map built by the server. We also highlight how our server
will be a proxy for all the human-robot interactions (HRI) in the system and
discuss the challenges involved. The paper's title captures the jist of our
system where even a tea table can be inexpensively mobilized and interacted
with via the DA vinCi architecture. Keywords: multi-agent system, robot intermediaries | |||
| Self introducing poster using attachable humanoid parts | | BIBAK | Full-Text | 327-328 | |
| Hirotaka Osawa; Ren Ohmura; Michita Imai | |||
| In this paper, we propose new robotics presentation method called, Self
Introducing Poster that uses attachable humanoid parts and explains its
contents through a self introduction style. Presentation by a conventional
robot sometimes fails because the robot presenter is often too attractive and
distracts from the presentation itself. In our method, the poster is
anthropomorphized and explains its contents. Due to this self presentation,
users can more easily understand its meaning because the information's contents
and information provider are strongly related. We designed and implemented our
system and evaluated it in the field. The results suggest that the
self-introducing system is useful for gaining users attention and effectively
presenting information. Keywords: anthropomorphization, human interface, human robot interaction | |||
| Evaluation of the effects of the shape of the artificial hand on the quality of the interaction: natural appearance vs. symbolic appearance | | BIBAK | Full-Text | 329-330 | |
| Massimiliano Zecca; Fumiya Iida; Nobutsuna Endo; Yu Mizoguchi; Keita Endo; Yousuke Kawabata; Kazuko Itoh; Atsuo Takanishi | |||
| Personal robots and robot technology (RT)-based assistive devices are
expected to play a major role in our elderly-dominated society, by interacting
with surrounding people both physically and psychologically. A fundamental role
during the interaction is of course played by the hand. In this paper we
present the evaluation of the effect of hand shape to the quality of the
interaction, in particular during handshake. Keywords: emotion expression, handshake, humanoid robotics, soft hand | |||