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)
2018
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(2018): Tomorrow’s human–machine design tools: From levels of automation to interdependencies. In: Journal of Cognitive Engineering and Decision Making 12 (1), S. 77-82. DOI: 10.1177/1555343417736462
DOI: https://doi.org/10.1177/1555343417736462 Abstract: The growth of sophistication in machine capabilities must go hand in hand with growth of sophistication in human–machine interaction capabilities. To continue advancement as we build today’s intelligent machines, designers need formative tools for creating sociotechnical systems. In this article, we will briefly assess the appropriateness of ’levels of automation’ as a tool for designing human–machine systems. Additionally, we present coactive design and interdependence analysis as a viable alternative tool moving forward into more advanced and sophisticated human–machine systems. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
Keywords: Angemessen(heit) (von Technik), Automation, cognitive engineering, Collaboration, design methods, Human Factors Engineering, Human Machine Systems, Human Machine Systems Design, Human robot interaction, human–automation interaction, human–computer interaction, Human–robot interaction, level of automation, Systems Design, team design, technology -
(2018): Intuitive control of mobile robots: An architecture for autonomous adaptive dynamic behaviour integration. In: Cognitive Processing 19 (2), S. 245-264. DOI: 10.1007/s10339-017-0818-5
DOI: https://doi.org/10.1007/s10339-017-0818-5 Abstract: In this paper, we present a novel approach to human–robot control. Taking inspiration from behaviour-based robotics and self-organisation principles, we present an interfacing mechanism, with the ability to adapt both towards the user and the robotic morphology. The aim is for a transparent mechanism connecting user and robot, allowing for a seamless integration of control signals and robot behaviours. Instead of the user adapting to the interface and control paradigm, the proposed architecture allows the user to shape the control motifs in their way of preference, moving away from the case where the user has to read and understand an operation manual, or it has to learn to operate a specific device. Starting from a tabula rasa basis, the architecture is able to identify control patterns (behaviours) for the given robotic morphology and successfully merge them with control signals from the user, regardless of the input device used. The structural components of the interface are presented and assessed both individually and as a whole. Inherent properties of the architecture are presented and explained. At the same time, emergent properties are presented and investigated. As a whole, this paradigm of control is found to highlight the potential for a change in the paradigm of robotic control, and a new level in the taxonomy of human in the loop systems. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
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(2018): Investigating People’s Rapport Building and Hindering Behaviors When Working with a Collaborative Robot. In: Int J of Soc Robotics 10 (1), S. 147-161. DOI: 10.1007/s12369-017-0441-8
DOI: https://doi.org/10.1007/s12369-017-0441-8 Abstract: Modern industrial robots are increasingly moving toward collaborating with people on complex tasks as team members, and away from working in isolated cages that are separated from people. Collaborative robots are programmed to use social communication techniques with people, enabling human team members to use their existing inter-personal skills to work with robots, such as speech, gestures, or gaze. Research is increasingly investigating how robots can use higher-level social structures such as team dynamics or conflict resolution. One particularly important aspect of human–human teamwork is rapport building: these are everyday social interactions between people that help to develop professional relationships by establishing trust, confidence, and collegiality, but which are formally peripheral to a task at hand. In this paper, we report on our investigations of how and if people apply similar rapport-building behaviors to robot collaborators. First, we synthesized existing human–human rapport knowledge into an initial human–robot interaction framework; this framework includes verbal and non-verbal behaviors, both for rapport building and rapport hindering, that people can be expected to exhibit. We developed a novel mock industrial task scenario that emphasizes ecological validity, and creates a range of social interactions necessary for investigating rapport. Finally, we report on a qualitative study that investigates how people use rapport hindering or building behaviors in our industrial scenario, which reflects how people may interact with robots in industrial settings.
2017
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(2017): Personal greetings: Personalizing robot utterances based on novelty of observed behavior. In: International Journal of Social Robotics 9 (2), S. 181-198. DOI: 10.1007/s12369-016-0385-4
DOI: https://doi.org/10.1007/s12369-016-0385-4 Abstract: One challenge in creating conversational service robots is how to reproduce the kind of individual recognition and attention that a human can provide. We believe that interactions can be made to seem more warm and humanlike by using sensors to observe a person’s behavior or appearance over time, and programming the robot to comment when it observes a novel feature, such as a new hairstyle, or a consistent behavior, such as visiting every afternoon. To create a system capable of recognizing such novelty and typicality, we collected one month of training data from customers in a shopping mall and recorded features of people’s visits, such as time of day and group size. We then trained SVM classifiers to identify each feature as novel, typical, or neither, based on the inputs of a human coder, and we trained an additional classifier to choose an appropriate topic for a personalized greeting. An utterance generator was developed to generate text for the robot to speak, based on the selected topic and sensor data. A cross-validation analysis showed that the trained classifiers could accurately reproduce human novelty judgments with 88% accuracy and topic selection with 95% accuracy. We then deployed a teleoperated robot using this system to greet customers in a shopping mall for three weeks, and we present example interactions and results from interviews showing that customers appreciated the robot’s personalized greetings and felt a sense of familiarity with the robot. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
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(2017): Don’t stare at me: The impact of a humanoid robot’s gaze upon trust during a cooperative human–robot visual task. In: International Journal of Social Robotics 9 (5), S. 745-753. DOI: 10.1007/s12369-017-0422-y
DOI: https://doi.org/10.1007/s12369-017-0422-y Abstract: Gaze is an important tool for social communication. Gaze can influence trust, likability, and compliance. However, excessive gaze in some contexts can signal threat, dominance and aggression, and hence complex social rules govern the appropriate use of gaze. Using a between-subjects design we investigated the impact of three levels of robot gaze (averted, constant and ’situational’) upon participants’ likelihood of trusting a humanoid robot’s opinion in a cooperative visual tracking task. The robot, acting as a confederate, would disagree with participants’ responses on certain trials, and suggest a different answer. As constant, staring gaze between strangers is associated with dominance and threat, and averted gaze is associated with lying, we predicted participants would be most likely to be persuaded by a robot which only gazed during disagreements (’situational gaze’). However, gender effects were found, with females least likely to trust a robot which stared at them, and no significant differences between averted gaze and situational gaze. Implications and future work are discussed. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
2016
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(2016): Development of a socially interactive system with whole-body movements for BHR-4. In: Int J of Soc Robotics 8 (2), S. 183-192. DOI: 10.1007/s12369-015-0330-y
DOI: https://doi.org/10.1007/s12369-015-0330-y Abstract: For a long time, humans have been communicating with others through voice, facial expressions, and body movements. If a humanoid robot has a human-habitual, natural, and human-like interactive form, it tends to be accepted by humans. To date, the majority of the existing humanoid robots have had difficulty in interacting with humans in a human-like way. This study focuses on this issue and develops a socially interactive system for enhancing the natural communication ability of a humanoid robot. The system, which is implemented in an android robot, BHR-4, features hearing, voice conversation, and facial and body emotional expression capabilities. Then, a full-body social motion planner for a humanoid robot is presented. The objective of this planner is to control the whole-body motion of the robot in a way similar to that of humans. Finally, experiments are conducted on the robot regarding its interactions with humans in a pure indoor environment. It is expected that the socially interactive system can enhance the natural communication ability of an android robot. The results of the experiments show that the combination of verbal behavior with facial expressions and body movements is better than verbal behavior alone, verbal behavior combined with facial expressions, or verbal behavior combined with body movements. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
2015
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(2015): Stress game: The role of motivational robotic assistance in reducing user’s task stress. In: International Journal of Social Robotics 7 (2), S. 227-240. DOI: 10.1007/s12369-014-0256-9
DOI: https://doi.org/10.1007/s12369-014-0256-9 Abstract: In social HRI context, the robot’s usefulness and appropriate behavior plays an important role. A robot should be able to understand the human’s internal state (i.e., physiological and psychological states) so as to provide an adaptive and thus efficient assistance within daily life activities. Measuring stress and frustration of an individual while performing a certain task is a critical element that can help the robot adapt its behavior so as to improve user’s interest and task performance and to reduce his/her frustration. In this paper, we designed an experiment called ’Stress Game’. In our work, stress is measured in terms of heart rate signal. The robot displays different behaviors as a function of user’s personality and game condition. We conducted our experiments with the NAO robot. The experimental results support our hypotheses that the robot has a positive effect on stress relief. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
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(2015): Reinforcement-learning based dialogue system for human–robot interactions with socially-inspired rewards. In: Computer Speech & Language 34 (1), S. 256-274. DOI: 10.1016/j.csl.2015.03.007
DOI: https://doi.org/10.1016/j.csl.2015.03.007 Abstract: This paper investigates some conditions under which polarized user appraisals gathered throughout the course of a vocal interaction between a machine and a human can be integrated in a reinforcement learning-based dialogue manager. More specifically, we discuss how this information can be cast into socially-inspired rewards for speeding up the policy optimisation for both efficient task completion and user adaptation in an online learning setting. For this purpose a potential-based reward shaping method is combined with a sample efficient reinforcement learning algorithm to offer a principled framework to cope with these potentially noisy interim rewards. The proposed scheme will greatly facilitate the system's development by allowing the designer to teach his system through explicit positive/negative feedbacks given as hints about task progress, in the early stage of training. At a later stage, the approach will be used as a way to ease the adaptation of the dialogue policy to specific user profiles. Experiments carried out using a state-of-the-art goal-oriented dialogue management framework, the Hidden Information State (HIS), support our claims in two configurations: firstly, with a user simulator in the tourist information domain (and thus simulated appraisals), and secondly, in the context of man–robot dialogue with real user trials.
2014
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(2014): An attentional approach to human–robot interactive manipulation. In: International Journal of Social Robotics 6 (4), S. 533-553. DOI: 10.1007/s12369-014-0236-0
DOI: https://doi.org/10.1007/s12369-014-0236-0 Abstract: Human robot collaborative work requires interactive manipulation and object handover. During the execution of such tasks, the robot should monitor manipulation cues to assess the human intentions and quickly determine the appropriate execution strategies. In this paper, we present a control architecture that combines a supervisory attentional system with a human aware manipulation planner to support effective and safe collaborative manipulation. After detailing the approach, we present experimental results describing the system at work with different manipulation tasks (give, receive, pick, and place). (PsycINFO Database Record (c) 2019 APA, all rights reserved)
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(2014): Evaluation of Head Gaze Loosely Synchronized With Real-Time Synthetic Speech for Social Robots. In: IEEE Transactions on Human-Machine Systems 44 (6), S. 767-778. DOI: 10.1109/THMS.2014.2342035
DOI: https://doi.org/10.1109/THMS.2014.2342035 Abstract: This study demonstrates that robots can achieve socially acceptable interactions using loosely synchronized head gaze-speech acts. Prior approaches use tightly synchronized head gaze-speech, which requires significant human effort and time to manually annotate synchronization events in advance, restricts interactive dialog, or requires that the operator acts as a puppeteer. This paper describes how autonomous synchronization of head gaze can be achieved by exploiting affordances in the sentence structure and time delays. A 93-participant user study was conducted in a simulated disaster site. The rescue robot “Survivor Buddy” generated head gaze for a victim management scenario using a 911 dialog. The study used pre- and postinteraction questionnaires to compare the social acceptance level of loosely synchronized head gaze-speech against tightly synchronized head gaze-speech (manual annotation) and no head gaze-speech conditions. The results indicated that for attributes of Self-Assessment Manikin, i.e., Arousal, Robot Likeability, Human-Like Behavior, Understanding Robot Behavior, Gaze-Speech Synchronization, Looking at Objects at Appropriate Times, and Natural Movement, the loosely synchronized head gaze-speech is similar to tightly synchronized head gaze-speech and preferred to the no head gaze-speech case. This study contributes to a fundamental understanding of the role of social head gaze in social acceptance for human-machine interaction, how social gaze can be produced, and promotes practical implementation in social robots.
Keywords: Angemessen(heit) (von Technik), Autonomous generation, autonomous head gaze synchronization, Evaluation, human robot interactions, Human-Machine Interaction, human-robot interaction, Human–robot interaction, ieee xplore, interactive conversation, interactive systems, loosely synchronized head gaze-speech acts, real-time synthetic speech, Real-time systems, rescue robots, Robot kinematics, self-assessment manikin, social head gaze, social robots, speech, Survivor Buddy rescue robot, synchronisation, Synchronization, tightly synchronized head gaze-speech, User study, victim management scenario -
(2014): When stereotypes meet robots. The double-edge sword of robot gender and personality in human–robot interaction. In: Computers in Human Behavior 38, S. 75-84. DOI: 10.1016/j.chb.2014.05.014
DOI: https://doi.org/10.1016/j.chb.2014.05.014 Abstract: With the emerging application of social and psychological concepts to human–robot interaction, we investigated the effects of occupational roles (security vs. healthcare), gender (male vs. female), and personality (extrovert vs. introvert) on user acceptance of a social robot. In a laboratory experiment, a robot performed two different roles of a healthcare and security to address the potential usage of social robots at home. During the task, the robot manifested different genders and personalities via nonverbal cues. The results showed that participants (n=164) preferred the robot with matching gender-occupational role and personality-occupational role stereotypes. This finding implies that the gender and personality of social robots do not monotonically influence user responses; instead, they interact with corresponding role stereotypes to affect user acceptance of social robots. In addition, personality-occupational role stereotypes showed a stronger effect on users' responses than gender-occupational role stereotypes. The overall results lay a foundation for designers to reduce the wide design spaces of social robots by grouping the various parameters under the big umbrella of social role stereotypes.
2013
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(2013): Am I acceptable to you?. Effect of a robot’s verbal language forms on people’s social distance from robots. In: Computers in Human Behavior 29 (3), S. 1091-1101. DOI: 10.1016/j.chb.2012.10.001
Abstract: Abstract This study is to examine the effect of robots’ language forms on people’s acceptance of robots. We applied a concept of social distance to measure people’s acceptance of robots. In an experiment, calling participants by name vs. not calling by name as well as the robot’s speech styles (familiar vs. honorific), were used to impose a verticality and horizontality of social relationships between participants and robots. After the conversation with a robot, participants rated the robot’s interpersonal traits and their comfortable approach distance to the robot, and their response to the robot during the experiment were analyzed. As a result, participants whom the robot called by their name perceived the robot as friendlier. They introduced themselves more actively, and were more intently focused on what the robot said. They asked the robot questions more frequently. Participants called by their names consequently approached the robot more closely than participants who were not called. An interaction effect was found between speech styles and whether names were used in regard to the perceived friendliness of robots, negative response to robots, and comfortable approach distance to robots. We discuss verbal interaction design for increasing people’s acceptance of robots. Highlights • A social distance based on human’s cognitive information processing was proposed. • The effect of language form on people’s social distance from robots was evaluated. • There were socially acceptable combinations of calling name and speech styles. zitiert von 21
2005
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(2005): Explorations in engagement for humans and robots. In: Artificial Intelligence 166 (1), S. 140-164. DOI: 10.1016/j.artint.2005.03.005
DOI: https://doi.org/10.1016/j.artint.2005.03.005 Abstract: This paper explores the concept of engagement, the process by which individuals in an interaction start, maintain and end their perceived connection to one another. The paper reports on one aspect of engagement among human interactors—the effect of tracking faces during an interaction. It also describes the architecture of a robot that can participate in conversational, collaborative interactions with engagement gestures. Finally, the paper reports on findings of experiments with human participants who interacted with a robot when it either performed or did not perform engagement gestures. Results of the human–robot studies indicate that people become engaged with robots: they direct their attention to the robot more often in interactions where engagement gestures are present, and they find interactions more appropriate when engagement gestures are present than when they are not.
2003
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(2003): Toward sociable robots. In: Robotics and Autonomous Systems 42 (3), S. 167-175. DOI: 10.1016/S0921-8890(02)00373-1
DOI: https://doi.org/10.1016/S0921-8890(02)00373-1 Abstract: This paper explores the topic of social robots—the class of robots that people anthropomorphize in order to interact with them. From the diverse and growing number of applications for such robots, a few distinct modes of interaction are beginning to emerge. We distinguish four such classes: socially evocative, social interface, socially receptive, and sociable. For the remainder of the paper, we explore a few key features of sociable robots that distinguish them from the others. We use the vocal turn-taking behavior of our robot, Kismet, as a case study to highlight these points.
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(2003): A survey of socially interactive robots. In: Robotics and Autonomous Systems 42 (3), S. 143-166. DOI: 10.1016/S0921-8890(02)00372-X
DOI: https://doi.org/10.1016/S0921-8890(02)00372-X Abstract: This paper reviews “socially interactive robots”: robots for which social human–robot interaction is important. We begin by discussing the context for socially interactive robots, emphasizing the relationship to other research fields and the different forms of “social robots”. We then present a taxonomy of design methods and system components used to build socially interactive robots. Finally, we describe the impact of these robots on humans and discuss open issues. An expanded version of this paper, which contains a survey and taxonomy of current applications, is available as a technical report [T. Fong, I. Nourbakhsh, K. Dautenhahn, A survey of socially interactive robots: concepts, design and applications, Technical Report No. CMU-RI-TR-02-29, Robotics Institute, Carnegie Mellon University, 2002].
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