Alle Publikationen
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2019
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(2019): An affordance and distance minimization based method for computing object orientations for robot human handovers. In: International Journal of Social Robotics, S. 143-162. DOI: 10.1007/s12369-019-00546-7
DOI: https://doi.org/10.1007/s12369-019-00546-7 Abstract: The ability to hand over objects to humans is an important skill for service robots. However, determining the proper object pose for handover is a challenging task. Our approach, based on observations of a set of natural human handovers, addresses three related challenges in teaching robots how to hand over objects: (1) how to compute mathematically an appropriate ‘standard’ or ‘mean’ handover orientation, (2) how to ascertain whether an observed set is of good or poor quality, and (3) using (1) and (2), how to compute an appropriate handover orientation from a set, in a manner that is robust to the quality of the set. We first compare three methods for computing mean orientations and show that our proposed distance minimization based method yields the best results. Next, we show that using the concept of affordance axes, we can evaluate the quality of a set of observed orientations. Finally, using affordance axes together with random sample consensus, we devise a method for computing an appropriate handover orientation from a set of observed natural handover orientations. User study data verified that our methods are successful in identifying both good and poor quality sets of handover orientations and in computing appropriate handover orientations from observed natural handover orientations. These results enable robots to automatically learn proper handover orientations for various objects. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
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(2019): Towards ethical guidelines of using telepresence robots in residential care. In: International Journal of Social Robotics, S. 1-9. DOI: 10.1007/s12369-019-00529-8
DOI: https://doi.org/10.1007/s12369-019-00529-8 Abstract: Robotic telepresence is a potential technology to help alleviating the loneliness of elderly people. The impacts of long-term use of telepresence robots in residential care are not well known. We were interested in how using a telepresence robot influences the resident, family members and care workers at a facility, and what challenges and solutions there are for wider adoption of such robots in residential care. With a telepresence robot Double, we arranged a series of three trials in two separate residential care facilities: one 12-week trial in a private facility and two successive 6-week trials in a public facility. In each trial, we installed the telepresence robot in a room of a long-term care home resident for communicating with her/his family members. Based on the results, telepresence robots do increase presence and possibly engagement of family members in residential care, but privacy is a central concern. The mobility of a telepresence robot is hard to utilize in residential care, and to be able to do so, ethical consideration and guidelines are needed. We provide a draft of such ethical guidelines. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
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(2019): Ethics, human rights, the intelligent robot, and its subsystem for moral beliefs. In: International Journal of Social Robotics. DOI: 10.1007/s12369-019-00540-z
DOI: https://doi.org/10.1007/s12369-019-00540-z Abstract: The Universal Declaration of Human Rights specifies a number of properties that characterize human beings, such as ‘dignity’, ‘conscience’, and several others. In this article we focus on these properties and on how they have been defined in the history of philosophy. We show how they can be interpreted in terms of a prototypical architecture for an intelligent robot, and how the robot can be provided with several aspects of ethical capability in this way. The key idea is to provide the robot with a Moral Belief System that cooperates with, and moderates the robot’s capability of planning and action. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
2018
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(2018): Impacts of visual occlusion and its resolution in robot-mediated social collaborations. In: International Journal of Social Robotics, S. 101-121. DOI: 10.1007/s12369-018-0480-9
DOI: https://doi.org/10.1007/s12369-018-0480-9 Abstract: In this work, we contribute to the current understanding of human behaviors in telepresence when visual occlusions are introduced in a remote collaboration context. Occlusions can occur when users in remote locations are engaged in physical collaborative tasks. This can yield to frustration and inefficient collaboration between the collaborators. In this work, we aim to design a better user interface to improve remote collaboration experience. We conducted two human-subjects experiments to investigate the following interlinked research questions: (a) what are the impacts of occlusion on remote collaborations, and (b) can an autonomous handling of occlusions improve telepresence collaboration experience for remote users? Results from our preliminary experiment demonstrate that occlusions introduce a significant social interference that necessitates collaborators to reorient or reposition themselves. Subsequently, we conducted a main experiment to evaluate the efficacy of autonomous occlusion handling for remote users. Results from this experiment indicate that the use of an autonomous controller yields a remote user experience that is more comparable (in terms of their vocal non-verbal behaviors [’The vocal non-verbal behaviour includes all spoken cues that surround the verbal message and influence its actual meaning.’ (Vinciarelli in Image Vis Comput 27(12):1743–1759, 2009)], task performance and perceived workload) to collaborations performed by two co-located parties. Finally, we discuss the implications of a better controller design for similar robot-mediated social interactions. (PsycINFO Database Record (c) 2018 APA, all rights reserved)
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