The Effects of Proactive Release Behaviors During Human-Robot Handovers

2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI) Pub Date : 2019-03-01 DOI:10.1109/HRI.2019.8673085

Zhao Han, H. Yanco

{"title":"The Effects of Proactive Release Behaviors During Human-Robot Handovers","authors":"Zhao Han, H. Yanco","doi":"10.1109/HRI.2019.8673085","DOIUrl":null,"url":null,"abstract":"Most research on human-robot handovers focuses on how the robot should approach human receivers and notify them of the readiness to take an object; few studies have investigated the effects of different release behaviors. Not releasing an object when a person desires to take it breaks handover fluency and creates a bad handover experience. In this paper, we investigate the effects of different release behaviors. Specifically, we study the benefits of a proactive release, during which the robot actively detects a human grasp effort pattern. In a 36-participant user study11The study is ready to reproduce with a Baxter robot. The code and environment setup is available at https://github.com/umhan35/handover_moveit, results suggest proactive release is more efficient than rigid release (which only releases when the robot is fully stopped) and passive release (the robot detects pulling by checking if a threshold value is reached). Subjectively, the overall handover experience is improved: the proactive release is significantly better in terms of handover fluency and ease-of-taking.","PeriodicalId":6600,"journal":{"name":"2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI)","volume":"1 1","pages":"440-448"},"PeriodicalIF":0.0000,"publicationDate":"2019-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"21","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/HRI.2019.8673085","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 21

Abstract

Most research on human-robot handovers focuses on how the robot should approach human receivers and notify them of the readiness to take an object; few studies have investigated the effects of different release behaviors. Not releasing an object when a person desires to take it breaks handover fluency and creates a bad handover experience. In this paper, we investigate the effects of different release behaviors. Specifically, we study the benefits of a proactive release, during which the robot actively detects a human grasp effort pattern. In a 36-participant user study11The study is ready to reproduce with a Baxter robot. The code and environment setup is available at https://github.com/umhan35/handover_moveit, results suggest proactive release is more efficient than rigid release (which only releases when the robot is fully stopped) and passive release (the robot detects pulling by checking if a threshold value is reached). Subjectively, the overall handover experience is improved: the proactive release is significantly better in terms of handover fluency and ease-of-taking.

查看原文本刊更多论文

人-机器人交接过程中主动释放行为的影响

大多数关于人-机器人移交的研究集中在机器人如何接近人类接收者并通知他们准备好接受物体;很少有研究调查不同释放行为的影响。当一个人想要拿走一个东西的时候，不释放它会破坏交接的流畅性，并造成糟糕的交接体验。在本文中，我们研究了不同释放行为的影响。具体来说，我们研究了主动释放的好处，在此期间，机器人主动检测人类的抓取努力模式。在一项36人参与的用户研究中，该研究准备用百特机器人进行复制。代码和环境设置可在https://github.com/umhan35/handover_moveit上获得，结果表明主动释放比刚性释放(仅在机器人完全停止时释放)和被动释放(机器人通过检查是否达到阈值来检测拉力)更有效。主观上，整体的移交体验得到了提升:主动释放在移交流畅性和易用性上明显更好。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI)

自引率

0.00%

发文量