Alle Publikationen
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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) : Expression of intention by rotational head movements for teleoperated mobile robot: 2018 IEEE 15th International Workshop on Advanced Motion Control (AMC): 2018 15th International Workshop on Advanced Motion Control (AMC): Tokyo: 3/9/2018 - 3/11/2018: [S.l.]: IEEE, S. 249-254
Abstract: We are studying a teleoperated mobile robot that provides useful information to a pedestrian. However, it is difficult for people to understand meanings of actions, motions or movements of many conventional robots. The purpose of this study is to improve pedestrian's impressions of a robot. Especially this paper describes people's understandability of robot behaviors when a robot turns around a corner or when a person and a robot pass each other in a corridor. Our robot shows its intention to make turn by rotating its head, as though a pedestrian shows a traveling direction by his/her gaze or face direction. The robot is teleoperated by an operator for safety in public spaces, and the direction of the robot head and the moving direction of the robot body are determined by an artificial potential field (APF) generated by a target position given by the operator, positions of obstacles and pedestrians. The APF for a pedestrian is generated based on her/his personal space of a person. Thus, the robot can express the intention of its action by rotating the head to look where it is going, when the robot changes its direction around pedestrians. The intention expression can be natural and understandable for them by the rotational movement of the head before the robot turns its body actually. Impression evaluation experiments with questionnaires were conducted under the two kinds of situations to reveal the validity and effectiveness of the intention expression by the robot's head rotation. Significant differences related to understandability and some impression words were observed between with and without rotating the head.
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(2018): Greetings as social action in Finland Swedish and Sweden Swedish service encounters – a pluricentric perspective. In: Intercultural Pragmatics 15 (1), S. 57-88. DOI: 10.1515/ip-2017-0030
Abstract: While greetings are performed in all cultures and open most conversations, previous studies suggest that there are cross-cultural differences between different languages in greeting behavior. But do speakers of different national varieties of the same language organize and perform their greeting behavior in similar ways? In this study, we investigate the sequential organization of greetings in relation to gaze behavior in the two national varieties of Swedish: Sweden Swedish spoken in Sweden and Finland Swedish spoken in Finland. In recent years, the importance of studying pluricentric languages from a pragmatic perspective has been foregrounded, not least within the framework of variational pragmatics. To date, most studies have focused on structural differences between national varieties of pluricentric languages. With this study, we extend the scope of variational pragmatics through adding an interactional, micro perspective to the broader macro analysis typical of this field. For this study, we have analyzed patterns for greetings in 297 videorecorded service encounters, where staff and customers interact at theatre box offices and event booking venues in Sweden and Finland. The study shows that there are similarities and differences in greeting behavior between varieties. There is a strong preference for exchanging reciprocal verbal greetings, one at a time, in both. There is also a similar organization of the greeting sequence, where customer and staff establish mutual gaze prior to the verbal greetings, thus signaling availability for interaction. The duration of mutual gaze and the timing of the greeting, however, differ between the two varieties. We have also conducted a multi modal analysis of gaze behavior in correlation to the greeting. We found that the customers and staff in the Finland Swedish data share mutual gaze before and during the verbal greeting, and often avert gaze after the verbal greetings. However, in the Sweden Swedish data, the participants often avert gaze before the verbal greetings. Our results thus indicate that both similarities and differences in pragmatic routines and bodily behavior exist between the two national varieties of Swedish. The present study on greeting practices in Finland Swedish and Sweden Swedish should contribute to the field of variational pragmatics and to the development of pluricentric theory.
2016
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(2016): Generating Robot Gaze on the Basis of Participation Roles and Dominance Estimation in Multiparty Interaction. In: ACM Transactions on Interactive Intelligent Systems 5 (4), S. 1-23. DOI: 10.1145/2743028
Abstract: Gaze is an important nonverbal feedback signal in multiparty face-to-face conversations. It is well known that gaze behaviors differ depending on participation role: speaker, addressee, or side participant. In this study, we focus on dominance as another factor that affects gaze. First, we conducted an empirical study and analyzed its results that showed how gaze behaviors are affected by both dominance and participation roles. Then, using speech and gaze information that was statistically significant for distinguishing the more dominant and less dominant person in an empirical study, we established a regression-based model for estimating conversational dominance. On the basis of the model, we implemented a dominance estimation mechanism that processes online speech and head direction data. Then we applied our findings to human-robot interaction. To design robot gaze behaviors, we analyzed gaze transitions with respect to participation roles and dominance and implemented gaze-transition models as robot gaze behavior generation rules. Finally, we evaluated a humanoid robot that has dominance estimation functionality and determines its gaze based on the gaze models, and we found that dominant participants had a better impression of less dominant robot gaze behaviors. This suggests that a robot using our gaze models was preferred to a robot that was simply looking at the speaker. We have demonstrated the importance of considering dominance in human-robot multiparty interaction.
2013
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(2013) : Hey! There is someone at your door. A hearing robot using visual communication signals of hearing dogs to communicate intent: 2013 IEEE Symposium on Artificial Life (ALIFE): 16-19 April 2013, Singapore ; [part of the] 2013 IEEE Symposium Series on Computational Intelligence (SSCI): 2013 IEEE Symposium on Artificial Life (ALife): Singapore, Singapore: 4/16/2013 - 4/19/2013. Annual IEEE Computer Conference; IEEE Symposium on Artificial Life; Alife; IEEE Symposium Series on Computational Intelligence; Ssci: Piscataway, NJ: IEEE, S. 90-97
Abstract: This paper presents a study of the readability of dog-inspired visual communication signals in a human-robot interaction scenario. This study was motivated by specially trained hearing dogs which provide assistance to their deaf owners by using visual communication signals to lead them to the sound source. For our human-robot interaction scenario, a robot was used in place of a hearing dog to lead participants to two different sound sources. The robot was preprogrammed with dog-inspired behaviors, controlled by a wizard who directly implemented the dog behavioral strategy on the robot during the trial. By using dog-inspired visual communication signals as a means of communication, the robot was able to lead participants to the sound sources (the microwave door, the front door). Findings indicate that untrained participants could correctly interpret the robot's intentions. Head movements and gaze directions were important for communicating the robot's intention using visual communication signals.
2010
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(2010): Visual Dominance and Visual Egalitarianism. Individual and Group-Level Influences of Sex and Status in Group Interactions. In: Journal of Nonverbal Behavior 34 (3), S. 137-153. DOI: 10.1007/s10919-010-0088-8
Abstract: This study investigated visual dominance and visual egalitarianism of men and women (N = 94; 17 teams) in team meetings at diverse workplaces. Two novel gaze-related measures were developed: (a) a group visual dominance ratio (group-VDR) assessing each member's visual dominance vis-A -vis all other members, and (b) a gaze distribution index (GDI) assessing each member's visual egalitarianism to all group members. Multilevel analyses were conducted to account for influences of the team members' sex and status on the individual level and for influences of sex and status composition of the teams, and the team leaders' sex on the group level. Results suggested that high-status individuals displayed more visual dominance than low-status individuals. The significant interaction of individuals' sex and status indicated that the positive relationship of status and visual dominance applied particularly to women. The more women in a team, the more visual dominance was displayed. The team leader's sex significantly influenced visual egalitarianism: Gaze distribution was less egalitarian when the team leader was male.
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(2010): An Approach to the Design of Socially Acceptable Robots for Children with Autism Spectrum Disorders. In: International Journal of Social Robotics 2 (4), S. 391-403. DOI: 10.1007/s12369-010-0063-x
Abstract: Investigation into technology-assisted intervention for children with autism spectrum disorders (ASD) has gained momentum in recent years. Research suggests that robots could be a viable means to impart skills to this population since children with ASD tend to be fascinated by robots. However, if robots are to be used to impart social skills, a primary deficit for this population, considerable attention needs to be paid to aspects of social acceptability of such robots. Currently there are no design guidelines as to how to develop socially acceptable robots to be used for intervention for children with ASD. As a first step, this work investigates social design of virtual robots for children with ASD. In this paper we describe the design of a virtual environment system for social interaction (VESSI). The design is evaluated through an innovative experiment plan that combines subjective ratings from a clinical observer with physiological responses indicative of affective states from the participants, both collected when participants engage in social tasks with the social robots in a virtual reality environment. Two social parameters of importance for this population, namely eye gaze and social distance, are systematically varied to analyze the response of the participants. The results are presented to illustrate how experiments with virtual social robots can contribute towards the development of future social robots for children with ASD.
2006
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(2006): A PERCEPTUALLY-BASED THEORY OF MIND FOR AGENT INTERACTION INITIATION. In: International Journal of Humanoid Robotics 03 (03), S. 321-339. DOI: 10.1142/S0219843606000783
Abstract: We endow agents with the capability to open interactions based on their perception of the gaze and direction of attention of others in a virtual environment. The capability is geared towards the earliest part of interaction initiation, where agents may be at some distance from each other and may not initially have knowledge of each other's presence. An important idea in our work is that the start of interaction be initiated in a graceful manner involving exchanges of subtle cues before overt interaction commitments are made. Synthetic vision, attention and memory are used to implement the perceptually-based agent theory of mind. Theory of Mind is used to infer information about the intention of the other to interact based on their eye, head and body directions, locomotion and greeting gestures. An agent's interaction behavior is therefore driven not only by its interaction goal, but also by its theory of the goal of the other based on perception. We have implemented this system and used it to automate and evaluate social interaction behaviors between humans and agents in a virtual environment.
Keywords: Begrüßungsgesten, Blick / Gaze, Blickrichtung, Favoriten, Fortbewegung/locomotion, Gesten, Gestik/Mimik, Körperhaltung, Modell zur Interpretation von Handlungsvorhaben für Roboter, Richtung der Kopfhaltung, Richtung der Körperhaltung, Subtilität der Kommunikationsgestik, theory of mind, Weltwissen 2003
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(2003): Perceived gaze direction and the processing of facial displays of emotion. In: Psychological science 14 (6), S. 644-647. DOI: 10.1046/j.0956-7976.2003.psci_1479.x
DOI: http://www.ncbi.nlm.nih.gov/pubmed/14629700 Abstract: There is good reason to believe that gaze direction and facial displays of emotion share an information value as signals of approach or avoidance. The combination of these cues in the analysis of social communication, however, has been a virtually neglected area of inquiry. Two studies were conducted to test the prediction that direct gaze would facilitate the processing of facially communicated approach-oriented emotions (e.g., anger and joy), whereas averted gaze would facilitate the processing of facially communicated avoidance-oriented emotions (e.g., fear and sadness). The results of both studies confirmed the central hypothesis and suggest that gaze direction and facial expression are combined in the processing of emotionally relevant facial information.
Keywords: abgewendeter Blick, Affect, Angst, Blick / Gaze, Blickkontakt, Blickrichtung, Emotionaler Zustand, Emotionen, Facial Expression, Female, Fixation, Ocular, Freude, Gesicht und assoziierte Zuschreibungen, Gesichtsausdruck, Gestik/Mimik, Humans, Male, theory of mind, Traurigkeit, Visual Perception, Wut 1991
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(1991): Verbal, prosodic, and kinesic emotive contrasts in speech. In: Journal of Pragmatics 15 (6), S. 521-549. DOI: 10.1016/0378-2166(91)90110-J
Abstract: The signaling of logical relations between, and emotive reactions to, subjects in face-to-face speech are complexly interrelated processes, making it sometimes difficult to fully distinguish what people say from how they say it. Emotive communication, an aspect of the latter (style, rhetoric, speech strategy), may be viewed, following Stankiewicz (1964), as the culturally learned, cognitively mediated use of nonpropositional signals to express feelings, manage impressions, and reach goals in speech. The paper introduces some pragmatically relevant American English verbal, vocal, and kinesic emotive contrasts, e.g., shifts of verbal explicitness, verbal value-ladenness, verbal intensity, vocal emphasis, intonation, gaze, facial expression, body posture and so on, and discusses their functions in speech as signals of (un)assertiveness, (non)affiliation, and (un)involvement. Methodological and theoretical questions raised by the nondiscrete, gradient, ‘more/less’ nature of emotive contrasts are discussed, and some conventional cross-modal emotive strategies in American English are explained. The paper is at once an introduction to basic problems in the study of emotive communication, and an invitation to a synthesis of cognitive and emotive standpoints in pragmatic research on face-to-face speech.
Keywords: Ausdruck von (Nicht-)Zusammengehörigkeitsgefühl, Betonung, Blick / Gaze, Brown & Levinson, Disziplin, Emotive Kommunikation, Erste Welle, Favoriten, FTA Face Threatening Acts, Gestik/Mimik, Höflichkeit, Höflichkeitsforschung, Höflichkeitsforschung der ersten Welle, (Im)Politeness Research, Klarheit/Eindeutigkeit der Ausdrucksweise, Körperhaltung, Linguistik, Modelle/Theorien, Politeness, Soziale Angemessenheit, Sprachgebrauch, Sprechmelodie/Prosody, Supportive Facework, Übermitteln von Gefühlen/Emotionen, Wortbedeutung
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