Alle Publikationen
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2019
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(2019) : Cuteness as a ‘Dark Pattern’ in Home Robots: 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Daegu, Korea: IEEE, S. 374-381
DOI: https://doi.org/10.1109/HRI.2019.8673274 Abstract: Dark patterns are a recent phenomenon in the field of interaction design, where design patterns and behavioral psychology are deployed in ways that deceive the user. However, the current corpus of dark patterns literature focuses largely on screen-based digital interactions and should be expanded to include home robots. In this paper, we apply the concept of dark patterns to the ‘cute’ aesthetic of home robots and suggest that their design constitutes a dark pattern in HRI by (1) emphasizing short-term gains over long-term decisions; (2) depriving users of some degree of conscious agency at the site of interaction; and (3) creating an affective response in the user for the purpose of collecting emotional data. This exploratory paper expands the current library of dark patterns and their application to new technological interfaces into the domain of home robotics in order to establish the grounds for an ethical design practice in HRI.
Keywords: Affect, dark patterns, data ethics, Data privacy, Design, design patterns, emotion, emotion recognition, ethical aspects, ethical design practice, Ethics, Home computing, home robots, HRI, human-robot interaction, ieee xplore, Interaction, Moral & Ethik, privacy, PSYCHOLOGY, Robot sensing systems, Software, surveillance capitalism, user experience design -
(2019): Trust in socially assistive robots: Considerations for use in rehabilitation. In: Neuroscience & Biobehavioral Reviews 104, S. 231-239. DOI: 10.1016/j.neubiorev.2019.07.014
DOI: https://doi.org/10.1016/j.neubiorev.2019.07.014 Abstract: Incorporation of social robots into rehabilitation calls for understanding what factors affect user motivation and success of the interaction. Trust between the user and the robot has been identified as important in human-robot interaction and in human-human interactions in therapy. Trust has been studied in the context of automation technology, (e.g., autonomous cars), but not in the context of social robots for rehabilitation. In this narrative review, we address the unique patient-clinician-robot triad, and argue that this context calls for specific design features in order to foster trust with the users. We review pertinent methods for measuring trust, and studies demonstrating that culture, prior experience and propensity-to-trust affect to what extent users trust robots. We suggest design guidelines for fostering trust and methods for measuring trust in human-robot interactions in rehabilitation. We stress the need to create measures of trust that are accessible to people who suffer from speech or cognitive impairments. This review is pertinent to researchers, roboticists, and clinicians interested in designing and using social robots for rehabilitation.
2018
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(2018): Action Anticipation: Reading the Intentions of Humans and Robots. In: IEEE Robotics and Automation Letters 3 (4), S. 4132-4139. DOI: 10.1109/LRA.2018.2861569
DOI: https://doi.org/10.1109/LRA.2018.2861569 Abstract: Humans have the fascinating capacity of processing nonverbal visual cues to understand and anticipate the actions of other humans. This “intention reading” ability is underpinned by shared motor repertoires and action models, which we use to interpret the intentions of others as if they were our own. We investigate how different cues contribute to the legibility of human actions during interpersonal interactions. Our first contribution is a publicly available dataset with recordings of human body motion and eye gaze, acquired in an experimental scenario with an actor interacting with three subjects. From these data, we conducted a human study to analyze the importance of different nonverbal cues for action perception. As our second contribution, we used motion/gaze recordings to build a computational model describing the interaction between two persons. As a third contribution, we embedded this model in the controller of an iCub humanoid robot and conducted a second human study, in the same scenario with the robot as an actor, to validate the model's “intention reading” capability. Our results show that it is possible to model (nonverbal) signals exchanged by humans during interaction, and how to incorporate such a mechanism in robotic systems with the twin goal of being able to “read” human action intentionsand acting in a way that is legible by humans
Keywords: Blick / Gaze, Body Movement, EYE GAZE, Gaze, Gesichtserkennung, HRI, human-robot interaction, iCub, Intentionserkennung (Roboter erkennt Menschenintention), Körperbewegung, Körperhaltung, Körpersprache, Nichtverbale Kommunikation, nonverbal, Nonverbal behavior, non-verbal cues, Nonverbale Kommunikation, Soziosensitive Systeme -
(2018): Long-term cohabitation with a social robot: A case study of the influence of human attachment patterns. In: International Journal of Social Robotics 10 (1), S. 163-176. DOI: 10.1007/s12369-017-0439-2
DOI: https://doi.org/10.1007/s12369-017-0439-2 Abstract: This paper presents the methodology, setup and results of a study involving long-term cohabitation with a fully autonomous social robot. During the experiment, three people with different attachment styles (as defined by John Bowlby) spent ten days each with an EMYS type robot, which was installed in their own apartments. It was hypothesized that the attachment patterns represented by the test subjects influence the interaction. In order to provide engaging and non-schematic actions suitable for the experiment requirements, the existing robot control system was modified, which allowed EMYS to become an effective home assistant. Experiment data was gathered using the robot’s state logging utility (during the cohabitation period) and in-depth interviews (after the study). Based on the analyzed data, it was concluded that the satisfaction stemming from prolonged cohabitation and the assessment of robot’s operation depend on the user’s attachment style. Results lead to first robot’s behavior personalization guidelines for different user’s attachment patterns. The study confirmed readiness of a EMYS robot for satisfying, autonomous, and long-term cohabitation with users. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
2017
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(2017): Artificial cognition for social human–robot interaction. An implementation. In: Artificial Intelligence 247, S. 45-69. DOI: 10.1016/j.artint.2016.07.002
Abstract: Human–Robot Interaction challenges Artificial Intelligence in many regards: dynamic, partially unknown environments that were not originally designed for robots; a broad variety of situations with rich semantics to understand and interpret; physical interactions with humans that requires fine, low-latency yet socially acceptable control strategies; natural and multi-modal communication which mandates common-sense knowledge and the representation of possibly divergent mental models. This article is an attempt to characterise these challenges and to exhibit a set of key decisional issues that need to be addressed for a cognitive robot to successfully share space and tasks with a human. We identify first the needed individual and collaborative cognitive skills: geometric reasoning and situation assessment based on perspective-taking and affordance analysis; acquisition and representation of knowledge models for multiple agents (humans and robots, with their specificities); situated, natural and multi-modal dialogue; human-aware task planning; human–robot joint task achievement. The article discusses each of these abilities, presents working implementations, and shows how they combine in a coherent and original deliberative architecture for human–robot interaction. Supported by experimental results, we eventually show how explicit knowledge management, both symbolic and geometric, proves to be instrumental to richer and more natural human–robot interactions by pushing for pervasive, human-level semantics within the robot's deliberative system.
2016
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(2016) : The ethical risk of attachment how to identify, investigate and predict potential ethical risks in the development of social companion robots: 2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Christchurch, New Zealand: IEEE Press, S. 367-374
DOI: https://doi.org/10.1109/HRI.2016.7451774 Abstract: In this paper we present the Triple-A Model intended as a framework for researchers and developers to incorporate ethics in the user-and robot-centered design of social companion robots. The purpose of the model is to help identifying potential ethical risks in the implementation of Human-Robot Interaction (HRI) scenarios. We base our model on three interaction levels, which companion robots can offer: Assistance, Adaptation, and Attachment (Triple-A). Every single interaction level has its specific potential ethical risks, which can be addressed during the robot development phase. However, we especially focus on the prominent ethical risks of long-term human-robot attachment and its implications on human-robot relationships. We discuss the practical use and the theoretical foundation of the Triple-A model which is well-grounded in the social role theory from sociology and the human cognitive-mnestic structure from cognitive science.
Keywords: assistance adaptation, Attachment, bonding, Cognition, Cognitive Science, ethical aspects, ethical risk, Ethics, HRI, human cognitive-mnestic structure, human-robot attachment, human-robot interaction, human-robot interaction scenarios, human-robot relationships, ieee xplore, Moral & Ethik, robot companions, robot development phase, robot-centered design, social companion robots, Social role, social role theory, socially assistive robots, triple-A model, user centred design, user-centered design 2015
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(2015) : Civilized collaboration: Ethical architectures for enforcing legal requirements and mediating social norms in HRI: 2015 International Conference on Collaboration Technologies and Systems (CTS): Atlanta, Georgia, USA: IEEE
DOI: https://doi.org/10.1109/CTS.2015.7210394 Abstract: The ways in which we treat each other, typically underpinned by an ethical theory, serve as a foundation for civilized activity. Bounds and requirements are established for normal and acceptable interactions between humans. If we are to create robotic systems to reside among us, they must also adhere to a set of related values that humans operate under. This talk first describes the importance of such conventions in human-robot interaction, then outlines a way forward including the difficult research questions remaining to be confronted in ethical human robot interaction (HRI). In particular, examples involving architectures using ethical governors, moral emotions, responsibility advisors and theories of mind are described in two quite different contexts: warfare [1,2] and the maintenance of human dignity in healthcare [3-5]. Even the role of deception must be considered as an important adjunct to HRI, as it may yield more effective intentional and autonomous social robots if properly deployed [6-7]. Finally, we can consider how robots may eventually be able to engineer more socially just human beings via nudging and the ethical questions associated with using such devices [8].
Keywords: autonomous social robots, civilized activity, civilized collaboration, Computer architecture, Context, ethical architectures, ethical aspects, ethical governors, ethical human robot interaction, Ethical Theory, Ethics, HRI, human-robot interaction, ieee xplore, legal requirements, Medical services, Moral & Ethik, Moral emotions, responsibility advisors, robotic systems, Robots, service robot, Social Norms -
(2015) : Robot Form and Motion Influences Social Attention: 2015 10th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Portland, Oregon, USA: Association for Computing Machinery, S. 43-50
Abstract: For social robots to be successful, they need to be accepted by humans. Human-robot interaction (HRI) researchers are aware of the need to develop the right kinds of robots with appropriate, natural ways for them to interact with humans. However, much of human perception and cognition occurs outside of conscious awareness, and how robotic agents engage these processes is currently unknown. Here, we explored automatic, reflexive social attention, which operates outside of conscious control within a fraction of a second to discover whether and how these processes generalize to agents with varying humanlikeness in their form and motion. Using a social variant of a well-established spatial attention paradigm, we tested whether robotic or human appearance and/or motion influenced an agent’s ability to capture or direct implicit social attention. In each trial, either images or videos of agents looking to one side of space (a head turn) were presented to human observers. We measured reaction time to a peripheral target as an index of attentional capture and direction. We found that all agents, regardless of humanlike form or motion, were able to direct spatial attention in the cued direction. However, differences in the form of the agent affected attentional capture, i.e., how quickly the observers could disengage attention from the agent and respond to the target. This effect further interacted with whether the spatial cue (head turn) was presented through static images or videos. Overall whereas reflexive social attention operated in the same manner for human and robot social agents for spatial attentional cueing, robotic appearance, as well as whether the agent was static or moving significantly influenced unconscious attentional capture processes. These studies reveal how unconscious social attentional processes operate when the agent is a human vs. a robot, add novel manipulations to the literature such as the role of visual motion, and provide a link between attention studies in HRI, and decades of research on unconscious social attention in experimental psychology and vision science.Categories and Subject Descriptors H.1.2 [Models and Principles]: User/Machine Systems -Human factors. H.5.2 [Information Interfaces and Presentation]: User Interfaces - Evaluation/methodology, User-Centered DesignGeneral TermsDesign, Human Factors.
Keywords: Angemessen(heit) (von Technik), automatic attention, Biology, Cognition, conscious awareness, conscious control, cued direction, Experimental Psychology, head turn, HRI, human appearance, Human Factors, human observers, human perception, humanlike form, Humanlikeness, human-robot interaction, Human-robot interaction researchers, ieee xplore, implicit social attention, Kinematics, Mobile robots, motion influences social attention, PSYCHOLOGY, reflexive social attention, robot design, robot form, Robot sensing systems, robotic agents, robotic appearance, Social Attention, social robots, social variant, Spatial Attention, spatial attention paradigm, spatial attentional cueing, spatial cue, static images, Time measurement, unconscious attentional capture processes, unconscious social attention, unconscious social attentional processes, user interfaces, User/Machine Systems-Human factors, varying humanlikeness, Videos, visual motion, Visual Perception -
(2015) : Perception of Affective Body Movements in HRI across Age Groups: Comparison between Results from Denmark and Japan: 2015 International Conference on Culture and Computing (Culture Computing): Kyoto, Japan: IEEE, S. 25-32
DOI: https://doi.org/10.1109/Culture.and.Computing.2015.14 Abstract: Social robots are envisioned to move into unrestricted environments where they will be interacting with naive users (in terms of their experience as robot operators). Thus, these robots are also envisioned to exploit interaction channels that are natural to humans like speech, gestures, or body movements. A specificity of these interaction channels is that humans do not only convey task-related information but also more subtle information like e.g. Emotions or personal stance through these channels. Thus, to be successful and not accidentally jeopardizing an interaction, robots need to be able to understand these implicit connotations of the signals (often called social signal processing) in order to generate appropriate signals in a given interaction context. One main application area that is envisioned for social robots is related to elder care, but little is known on how seniors will perceive robots and the signals they produce. In this paper we focus on affective connotations of body movements and investigate how the perception of body movements of robots is related to age. Inspired by a study from Japan, we introduce culture as a variable in the experiment and discuss the difficulties of cross-cultural comparisons. The results show that there are certain age-related differences in the perception of affective body movements, but not as strong as in the original study. A follow up experiment puts the affective body movements into context and shows that recognition rates deteriorate for older participants.
Keywords: affective body movement perception, affective body movements, age groups, age-related differences, Angemessen(heit) (von Technik), assisted living, Context, cross-cultural analysis, Cultural differences, culturally aware technology, Denmark, elder care, emotion information, Face, HRI, Human Factors, Human robot interaction, Humanoid Robots, human-robot interaction, ieee xplore, implicit connotation, interaction channels, Japan, Legged locomotion, Observers, personal stance information, robot operators, Robots, service robot, social robots, social signal processing, task-related information, TV, unrestricted environments, Videos 2012
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(2012) : Spatial Formation Model for Initiating Conversation In: Trinkle, Jeffrey C.; Matsuoka, Yoky; Castellanos, José A. (Hg.): Robotics: Science and systems VII: Robotics: Science and Systems 2011: June 27-30, 2011: Cambridge, MA: MIT Press
Abstract: In a situation where a robot initiates conversation with a person, when is the appropriate timing and where is an appropriate position from which to say the first greeting word? In this study, we analyze human interaction and establish a model for a natural way of initiating conversation. The model mainly concerns the participation state [1] and spatial formation [2]. When a person is going to participate in a conversation, at a moment when a particular spatial formation occurs, she would feel that she is participating in the conversation; once she perceived her participation she would try to maintain particular spatial formations. There are theories in human communication for these concepts [1, 2], but they only cover the situation after people have started to talk. We build a model that precisely describes the constraints and expected behaviors for the phase of initiating conversation. The proposed model is implemented in a humanoid robot, and it is confirmed as effective in an evaluation experiment based on a shopkeeper scenario.
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