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How may I serve you? A robot companion approaching a seated person in a helping context
- In Proc. of the ACM International Conference on Human Robot Interaction HRI 06
"... This paper presents the combined results of two studies that investigated how a robot should best approach and place itself relative to a seated human subject. Two live Human Robot Interaction (HRI) trials were performed involving a robot fetching an object that the human had requested, using differ ..."
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Cited by 60 (9 self)
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This paper presents the combined results of two studies that investigated how a robot should best approach and place itself relative to a seated human subject. Two live Human Robot Interaction (HRI) trials were performed involving a robot fetching an object that the human had requested, using different approach directions. Results of the trials indicated that most subjects disliked a frontal approach, except for a small minority of females, and most subjects preferred to be approached from either the left or right side, with a small overall preference for a right approach by the robot. Handedness and occupation were not related to these preferences. We discuss the results of the user studies in the context of developing a path planning system for a mobile robot.
Perception of Robot Smiles and Dimensions for Human-Robot Interaction Design
- 15th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 06
, 2006
"... Abstract — As robots enter everyday life and start to in-teract with ordinary people the question of their appearance becomes increasingly important. Our perception of a robot can be strongly influenced by its facial appearance. Synthesizing relevant ideas from narrative art design, the psychology o ..."
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Cited by 34 (14 self)
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Abstract — As robots enter everyday life and start to in-teract with ordinary people the question of their appearance becomes increasingly important. Our perception of a robot can be strongly influenced by its facial appearance. Synthesizing relevant ideas from narrative art design, the psychology of face recognition, and recent HRI studies into robot faces, we discuss effects of the uncanny valley and the use of iconicity and its relationship to the self-other perceptive divide, as well as abstractness and realism, classifying existing designs along these dimensions. A new expressive HRI research robot called KASPAR is introduced and the results of a preliminary study on human perceptions of robot expressions are discussed. I. MOTIVATIONS It is an exciting time in robotics. Personal service robots, so long the science fiction dream, are becoming reality and are for sale to general consumers. Currently their uses are limited, but capabilities are improving, costs are coming down and sales are growing. In addition robots are finding a new place in society as toys, artificial pets [20], security guards, teachers [10], tour guides [24] and in search and rescue. They are finding use in areas as diverse as autism therapy [22], space exploration and research into cognition and biological systems [23].
Methodological issues in hri: A comparison of live and video-based methods in robot to human approach direction trials
- In Proceedings of the 15th IEEE International Symposium on Robot and Human Interactive Communication
, 2006
"... Abstract-The main aim of this study was to confirm the findings from previous pilot studies that results obtained from the same Human Robot Interaction (HRI) scenarios in trials using both video-based and live methodologies were comparable. We investigated how a robot should approach human subjects ..."
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Cited by 26 (10 self)
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Abstract-The main aim of this study was to confirm the findings from previous pilot studies that results obtained from the same Human Robot Interaction (HRI) scenarios in trials using both video-based and live methodologies were comparable. We investigated how a robot should approach human subjects in various scenarios relevant to the robot fetching an object for the subject. These scenarios include a human subject sitting in an open space, sitting at a table, standing in an open space and standing against a wall. The subjects experienced the robot approaching from various directions for each of these contexts in HRI trials that were both live and video-based. There was a high degree of agreement between the results obtained from both the live and video based trials using the same scenarios. The main findings from both types of trial methodology were: Humans strongly did not like a direct frontal approach by a robot, especially while sitting (even at a table) or while standing with their back to a wall. An approach from the front left or front right was preferred. When standing in an open space a frontal approach was more acceptable and although a rear approach was not usually most preferred, it was generally acceptable to subjects if physically more convenient.
Avoiding the Uncanny Valley – Robot Appearance, Personality and Consistency of Behavior in an Attention-Seeking Home Scenario for a Robot Companion
- Journal of Autonomous Robots
, 2008
"... Abstract — This articleii presents the results of video-based Human Robot Interaction (HRI) trials which investigated people’s perceptions of different robot appearances and associated attention-seeking features and behaviors displayed by robots with different appearance and behaviors. The HRI trial ..."
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Cited by 26 (8 self)
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Abstract — This articleii presents the results of video-based Human Robot Interaction (HRI) trials which investigated people’s perceptions of different robot appearances and associated attention-seeking features and behaviors displayed by robots with different appearance and behaviors. The HRI trials studied the participants ’ preferences for various features of robot appearance and behavior, as well as their personality attributions towards the robots compared to their own personalities. Overall, participants tended to prefer robots with more human-like appearance and attributes. However, systematic individual differences in the dynamic appearance ratings are not consistent with a universal effect. Introverts and participants with lower emotional stability tended to prefer the mechanical looking appearance to a greater degree than other participants. It is also shown that it is possible to rate individual elements of a particular robot’s behavior and then assess the contribution, or otherwise, of that element to the overall perception of the robot by people. Relating participants ’ dynamic appearance ratings of individual robots to independent static appearance ratings provided evidence that could be taken to support a portion of the left hand side of Mori’s theoretically proposed ‘uncanny valley ’ diagram. Suggestions for future work are outlined. Robots that are currently commercially available for use in a domestic environment and which have human interaction features are often orientated towards toy or entertainment functions. In the future, a robot companion which is to find a more generally useful place within a human oriented domestic environment, and thus sharing a private home with a person
Empirical Results from Using a Comfort Level Device in Human-Robot Interaction Studies
- In Proceeding of the 2006 AMC Conference on Human-Robot Interaction
"... This paper describes an extensive analysis of the comfort level data of 7 subjects with respect to 12 robot behaviours as part of a human-robot interaction trial. This includes robot action, proximity and motion relative to the subjects. Two researchers coded the video material, identifying visible ..."
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Cited by 23 (7 self)
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This paper describes an extensive analysis of the comfort level data of 7 subjects with respect to 12 robot behaviours as part of a human-robot interaction trial. This includes robot action, proximity and motion relative to the subjects. Two researchers coded the video material, identifying visible states of discomfort displayed by subjects in relation to the robot's behaviour. Agreement between the coders varied from moderate to high, except for more ambiguous situations involving robot approach directions. The detected visible states of discomfort were correlated with the situations where the comfort level device (CLD) indicated states of discomfort. Results show that the uncomfortable states identified by both coders, and by either of the coders corresponded with 31 % and 64 % of the uncomfortable states identified by the subjects ' CLD data (N=58), respectively. Conversely there was 72 % agreement between subjects ’ CLD data and the uncomfortable states identified by both coders (N=25). Results show that the majority of the subjects expressed discomfort when the robot blocked their path or was on a collision course towards them, especially when the robot was within 3 meters proximity. Other observations include that the majority of subjects experienced discomfort when the robot was closer than 3m, within the social zone reserved for human-human face to face conversation, while they were performing a task. The advantages and disadvantages of the CLD in comparison to other techniques for assessing subjects ' internal states are discussed and future work concludes the paper.
The art of designing robot faces: Dimensions for human-robot interaction
- In Proceedings of HRI’06
, 2006
"... As robots enter everyday life and start to interact with or-dinary people the question of their appearance becomes in-creasingly important. A user’s perception of a robot can be strongly influenced by its facial appearance. Synthesizing relevant ideas from narrative art design, the psychology of fac ..."
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Cited by 17 (7 self)
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As robots enter everyday life and start to interact with or-dinary people the question of their appearance becomes in-creasingly important. A user’s perception of a robot can be strongly influenced by its facial appearance. Synthesizing relevant ideas from narrative art design, the psychology of face recognition, and recent HRI studies into robot faces, we discuss effects of the uncanny valley and the use of iconicity and its effect on the self/other perceptive divide, as well as abstractness and realism, classifying existing designs along these dimensions. The dimensions and issues of face design are illustrated in the design rationale, details of construction and intended uses of a new minimal expressive robot called KASPAR. 1. MOTIVATIONS It is an exciting time in robotics. Personal service robots, so long the science fiction dream, are becoming reality and are for sale to general consumers. Currently their uses (and users) are limited, but capabilities are improving, costs are coming down and sales are growing. In addition robots are finding a new place in society as toys, artificial pets [29], security guards, teachers [18], tour guides [35] and in search and rescue [11]. They are finding use in areas as diverse as autism therapy [32, 33], space exploration [1] and research into cognition and biological systems [34]. 1.1 RobotCub
An Empirical Framework for Human-Robot Proxemics
, 2009
"... An empirical framework for Human-Robot (HR) proxemics is proposed which shows how the measurement and control of interpersonal distances between a human and a robot can be potentially used by the robot to interpret, predict and manipulate proxemic behaviour for Human-Robot Interactions (HRIs). The ..."
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Cited by 14 (2 self)
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An empirical framework for Human-Robot (HR) proxemics is proposed which shows how the measurement and control of interpersonal distances between a human and a robot can be potentially used by the robot to interpret, predict and manipulate proxemic behaviour for Human-Robot Interactions (HRIs). The proxemic framework provides for incorporation of inter-factor effects, and can be extended to incorporate new factors, updated values and results. The framework is critically discussed and future work proposed.
Care-obot 3 - rationale for human-robot interaction design
- in Proceedings of 39th International Symposium on Robotics (ISR), Seul, Korea
, 2008
"... Abstract — This paper presents the design rationale for a new service robot, Care-O-bot 3 that is meant to operate as a companion robot in people’s homes. Note, the emphasis in the paper is on the design of a companion robot as a product, not as a research prototype. The design is motivated from a m ..."
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Cited by 13 (0 self)
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Abstract — This paper presents the design rationale for a new service robot, Care-O-bot 3 that is meant to operate as a companion robot in people’s homes. Note, the emphasis in the paper is on the design of a companion robot as a product, not as a research prototype. The design is motivated from a multi-disciplinary viewpoint and compared to other approaches in the field which often focus on a humanoid appearance. In this paper we put forward an abstract design with iconic features. We argue that such a more ‘technomorphic ’ design may be appealing to a potentially large user group. Potential target user groups of the robot are identified. The realization of such a design, including details on the robots mobile base and torso, manipulator, sensors, and remote interfaces are presented in the paper. I.
Robot etiquette: Results from user studies involving a fetch and carry task
- in ACM/IEEE International Conference on Human-Robot Interaction
, 2007
"... This paper presents results, outcomes and conclusions from a series of Human Robot Interaction (HRI) trials which investigated how a robot should approach a human in a fetch and carry task. Two pilot trials were carried out, aiding the development of a main HRI trial with four different approach con ..."
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Cited by 12 (0 self)
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This paper presents results, outcomes and conclusions from a series of Human Robot Interaction (HRI) trials which investigated how a robot should approach a human in a fetch and carry task. Two pilot trials were carried out, aiding the development of a main HRI trial with four different approach contexts under controlled experimental conditions. The findings from the pilot trials were confirmed and expanded upon. Most subjects disliked a frontal approach when seated. In general, seated humans do not like to be approached by a robot directly from the front even when seated behind a table. A frontal approach is more acceptable when a human is standing in an open area. Most subjects preferred to be approached from either the left or right side, with a small overall preference for a right approach by the robot. However, this is not a strong preference and it may be disregarded if it is more physically convenient to approach from a left front direction. Handedness and occupation were not related to these preferences. Subjects do not usually like the robot to move or approach from directly behind them, preferring the robot to be in view even if this means the robot taking a physically nonoptimum path. The subjects for the main HRI trials had no previous experience of interacting with robots. Future research aims are outlined and include the necessity of carrying out longitudinal trials to see if these findings hold over a longer period of exposure to robots.
