ACM Transactions on Human-Robot Interaction最新文献

Towards an Integrative Framework for Robot Personality Research 构建机器人人格研究的综合框架

IF 5.1

ACM Transactions on Human-Robot Interaction Pub Date : 2024-01-10 DOI: 10.1145/3640010

Anna Dobrosovestnova, Tim Reinboth, Astrid Weiss

{"title":"Towards an Integrative Framework for Robot Personality Research","authors":"Anna Dobrosovestnova, Tim Reinboth, Astrid Weiss","doi":"10.1145/3640010","DOIUrl":"https://doi.org/10.1145/3640010","url":null,"abstract":"Within human-robot interaction (HRI), research on robot personality has largely drawn on trait theories and models, such as the Big Five and OCEAN. We argue that reliance on trait models in HRI has led to a limited understanding of robot personality as a question of stable traits that can be designed into a robot plus how humans with certain traits respond to particular robots. However, trait-based approaches exist alongside other ways of understanding personality including approaches focusing on more dynamic constructs such as adaptations and narratives. We suggest that a deep understanding of robot personality is only possible through a cross-disciplinary effort to integrate these different approaches. We propose an Integrative Framework for Robot Personality Research (IF), wherein robot personality is defined not as a property of the robot, nor of the human perceiving the robot, but as a complex assemblage of components at the intersection of robot design and human factors. With the IF, we aim to establish a common theoretical grounding for robot personality research that incorporates personality constructs beyond traits and treats these constructs as complementary and fundamentally interdependent.","PeriodicalId":36515,"journal":{"name":"ACM Transactions on Human-Robot Interaction","volume":"1 10","pages":""},"PeriodicalIF":5.1,"publicationDate":"2024-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139439125","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Effortless Polite Telepresence using Intention Recognition 利用意图识别技术轻松实现礼貌网真

IF 5.1

ACM Transactions on Human-Robot Interaction Pub Date : 2023-12-13 DOI: 10.1145/3636433

Morteza Daneshmand, Jani Even, Takayuki Kanda

{"title":"Effortless Polite Telepresence using Intention Recognition","authors":"Morteza Daneshmand, Jani Even, Takayuki Kanda","doi":"10.1145/3636433","DOIUrl":"https://doi.org/10.1145/3636433","url":null,"abstract":"Telepresence technology creates the opportunity for people that were traditionally left out of the workforce to work remotely. In the service industry, a pool of novice remote workers could teleoperate robots to perform short work stints to fill in the gaps left by the dwindling workforce. A hurdle is that consistently talking appropriately and politely imposes a severe mental burden on such novice operators and the quality of the service may suffer. In this study, we propose a teleoperation support system that lets novice remote workers talk freely without considering appropriateness and politeness while maintaining the quality of the service. The proposed system exploits intent recognition to transform casual utterances into predefined appropriate and polite utterances. We conducted a within subject user study where 23 participants played the role of novice remote operators controlling a guardsman robot in charge of monitoring customers’ behaviors. We measured the workload with and without using the proposed support system using NASA task load index questionnaires. The workload was significantly lower (p <.001) when using the proposed support system (M = 46.07, SD = 14.36) than when not using it (M = 62.74, SD = 12.70). The effect size was large (Cohen’s d = 1.23).","PeriodicalId":36515,"journal":{"name":"ACM Transactions on Human-Robot Interaction","volume":"6 2","pages":""},"PeriodicalIF":5.1,"publicationDate":"2023-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138976430","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Introduction to the Special Issue on Sound in Human-Robot Interaction 人机交互中的声音》特刊简介

IF 5.1

ACM Transactions on Human-Robot Interaction Pub Date : 2023-12-13 DOI: 10.1145/3632185

F. Robinson, Hannah R. M. Pelikan, Katsumi Watanabe, Luisa Damiano, Oliver Bown, Mari Velonaki

引用次数: 0

Variable Autonomy Through Responsible Robotics: Design Guidelines and Research Agenda 通过负责任的机器人技术实现可变自主：设计指南和研究议程

IF 5.1

ACM Transactions on Human-Robot Interaction Pub Date : 2023-12-07 DOI: 10.1145/3636432

T. Reinmund, P. Salvini, Lars Kunze, Marina Jirotka, A. Winfield

{"title":"Variable Autonomy Through Responsible Robotics: Design Guidelines and Research Agenda","authors":"T. Reinmund, P. Salvini, Lars Kunze, Marina Jirotka, A. Winfield","doi":"10.1145/3636432","DOIUrl":"https://doi.org/10.1145/3636432","url":null,"abstract":"Physically embodied artificial agents, or robots, are being incorporated into various practical and social contexts, from self-driving cars for personal transportation to assistive robotics in social care. To enable these systems to better perform under changing conditions, designers have proposed to endow robots with varying degrees of autonomous capabilities and the capacity to move between them – an approach known as variable autonomy. Researchers are beginning to understand how robots with fixed autonomous capabilities influence a person’s sense of autonomy, social relations, and, as a result, notions of responsibility; however, addressing these topics in scenarios where robot autonomy dynamically changes is underexplored. To establish a research agenda for variable autonomy that emphasises the responsible design and use of robotics, we conduct a developmental review. Based on a sample of 42 papers, we provide a synthesised definition of variable autonomy to connect currently disjointed research efforts, detail research approaches in variable autonomy to strengthen the empirical basis for subsequent work, characterise the dimensions of variable autonomy, and present design guidelines for variable autonomy research based on responsible robotics.","PeriodicalId":36515,"journal":{"name":"ACM Transactions on Human-Robot Interaction","volume":"22 1","pages":""},"PeriodicalIF":5.1,"publicationDate":"2023-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138590343","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The Power of Robot-mediated Play: Forming Friendships and Expressing Identity. 机器人媒介游戏的力量:建立友谊和表达身份。

IF 4.2

ACM Transactions on Human-Robot Interaction Pub Date : 2023-12-01 Epub Date: 2023-09-28 DOI: 10.1145/3611656

Verónica Ahumada-Newhart, Margaret Schneider, Laurel D Riek

{"title":"The Power of Robot-mediated Play: Forming Friendships and Expressing Identity.","authors":"Verónica Ahumada-Newhart, Margaret Schneider, Laurel D Riek","doi":"10.1145/3611656","DOIUrl":"10.1145/3611656","url":null,"abstract":"Tele-operated collaborative robots are used by many children for academic learning. However, as child-directed play is important for social-emotional learning, it is also important to understand how robots can facilitate play. In this article, we present findings from an analysis of a national, multi-year case study, where we explore how 53 children in grades K-12 (n = 53) used robots for self-directed play activities. The contributions of this article are as follows. First, we present empirical data on novel play scenarios that remote children created using their tele-operated robots. These play scenarios emerged in five categories of play: physical, verbal, visual, extracurricular, and wished-for play. Second, we identify two unique themes that emerged from the data-robot-mediated play as a foundational support of general friendships and as a foundational support of self-expression and identity. Third, our work found that robot-mediated play provided benefits similar to in-person play. Findings from our work will inform novel robot and HRI design for tele-operated and social robots that facilitate self-directed play. Findings will also inform future interdisciplinary studies on robot-mediated play.","PeriodicalId":36515,"journal":{"name":"ACM Transactions on Human-Robot Interaction","volume":"12 4","pages":""},"PeriodicalIF":4.2,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10593410/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"50158967","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Brain-Behavior Relationships of Trust in Shared Space Human-Robot Collaboration 共享空间人机协作中信任的脑-行为关系

ACM Transactions on Human-Robot Interaction Pub Date : 2023-11-10 DOI: 10.1145/3632149

Sarah K. Hopko, Yinsu Zhang, Aakash Yadav, Prabhakar R. Pagilla, Ranjana K. Mehta

{"title":"Brain-Behavior Relationships of Trust in Shared Space Human-Robot Collaboration","authors":"Sarah K. Hopko, Yinsu Zhang, Aakash Yadav, Prabhakar R. Pagilla, Ranjana K. Mehta","doi":"10.1145/3632149","DOIUrl":"https://doi.org/10.1145/3632149","url":null,"abstract":"Trust in human-robot collaboration is an essential consideration that relates to operator performance, utilization, and experience. While trust’s importance is understood, the state-of-the-art methods to study trust in automation, like surveys, drastically limit the types of insights that can be made. Improvements in measuring techniques can provide a granular understanding of influencers like robot reliability and their subsequent impact on human behavior and experience. This investigation quantifies the brain-behavior relationships associated with trust manipulation in shared space human-robot collaboration (HRC) to advance the scope of metrics to study trust. Thirty-eight participants, balanced by sex, were recruited to perform an assembly task with a collaborative robot under reliable and unreliable robot conditions. Brain imaging, psychological and behavioral eye-tracking, quantitative and qualitative performance, and subjective experiences were monitored. Results from this investigation identify specific information processing and cognitive strategies that result in identified trust-related behaviors, that were found to be sex-specific. The use of covert measurements of trust can reveal insights that humans cannot consciously report, thus shedding light on processes systematically overlooked by subjective measures. Our findings connect a trust influencer (robot reliability) to upstream cognition and downstream human behavior and are enabled by the utilization of granular metrics.","PeriodicalId":36515,"journal":{"name":"ACM Transactions on Human-Robot Interaction","volume":"114 51","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135138234","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Which Voice for which Robot? Designing Robot Voices that Indicate Robot Size 哪种声音适合哪个机器人?设计指示机器人大小的机器人声音

ACM Transactions on Human-Robot Interaction Pub Date : 2023-11-08 DOI: 10.1145/3632124

Kerstin Fischer, Oliver Niebuhr

引用次数: 0

Assistance in Teleoperation of Redundant Robots through Predictive Joint Maneuvering 基于预测关节机动的冗余机器人遥操作辅助

ACM Transactions on Human-Robot Interaction Pub Date : 2023-11-03 DOI: 10.1145/3630265

Connor Brooks, Wyatt Rees, Daniel Szafir

{"title":"Assistance in Teleoperation of Redundant Robots through Predictive Joint Maneuvering","authors":"Connor Brooks, Wyatt Rees, Daniel Szafir","doi":"10.1145/3630265","DOIUrl":"https://doi.org/10.1145/3630265","url":null,"abstract":"In teleoperation of redundant robotic manipulators, translating an operator’s end effector motion command to joint space can be a tool for maintaining feasible and precise robot motion. Through optimizing redundancy resolution, the control system can ensure the end effector maintains maneuverability by avoiding joint limits and kinematic singularities. In autonomous motion planning, this optimization can be done over an entire trajectory to improve performance over local optimization. However, teleoperation involves a human-in-the-loop who determines the trajectory to be executed through a dynamic sequence of motion commands. We present two systems, PrediKCT and PrediKCS, for utilizing a predictive model of operator commands in order to accomplish this redundancy resolution in a manner that considers future expected motion during teleoperation. Using a probabilistic model of operator commands allows optimization over an expected trajectory of future motion rather than consideration of local motion alone. Evaluation through a user study demonstrates improved control outcomes from this predictive redundancy resolution over minimum joint velocity solutions and inverse kinematics-based motion controllers.","PeriodicalId":36515,"journal":{"name":"ACM Transactions on Human-Robot Interaction","volume":"40 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135818720","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Robots’ “Woohoo” and “Argh” can Enhance Users’ Emotional and Social Perceptions: An Exploratory Study on Non-Lexical Vocalizations and Non-Linguistic Sounds 机器人的“Woohoo”和“Argh”可以增强用户的情感感知和社会感知——非词汇发声和非语言发声的探索性研究

ACM Transactions on Human-Robot Interaction Pub Date : 2023-10-17 DOI: 10.1145/3626185

Xiaozhen Liu, Jiayuan Dong, Myounghoon Jeon

{"title":"Robots’ “Woohoo” and “Argh” can Enhance Users’ Emotional and Social Perceptions: An Exploratory Study on Non-Lexical Vocalizations and Non-Linguistic Sounds","authors":"Xiaozhen Liu, Jiayuan Dong, Myounghoon Jeon","doi":"10.1145/3626185","DOIUrl":"https://doi.org/10.1145/3626185","url":null,"abstract":"As robots have become more pervasive in our everyday life, social aspects of robots have attracted researchers’ attention. Because emotions play a crucial role in social interactions, research has been conducted on conveying emotions via speech. Our study sought to investigate the synchronization of multimodal interaction in human-robot interaction (HRI). We conducted a within-subjects exploratory study with 40 participants to investigate the effects of non-speech sounds (natural voice, synthesized voice, musical sound, and no sound) and basic emotions (anger, fear, happiness, sadness, and surprise) on user perception with emotional body gestures of an anthropomorphic robot (Pepper). While listening to a fairytale with the participant, a humanoid robot responded to the story with a recorded emotional non-speech sounds and gestures. Participants showed significantly higher emotion recognition accuracy from the natural voice than from other sounds. The confusion matrix showed that happiness and sadness had the highest emotion recognition accuracy, which is in line with previous research. The natural voice also induced higher trust, naturalness, and preference, compared to other sounds. Interestingly, the musical sound mostly showed lower perception ratings, even compared to the no sound. Results are discussed with design guidelines for emotional cues from social robots and future research directions.","PeriodicalId":36515,"journal":{"name":"ACM Transactions on Human-Robot Interaction","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136034445","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Experimental Assessment of Human-Robot Teaming for Multi-Step Remote Manipulation with Expert Operators 专家操作下多步远程操作人机组队的实验评估

ACM Transactions on Human-Robot Interaction Pub Date : 2023-10-17 DOI: 10.1145/3618258

Claudia Pérez-D'Arpino, Rebecca P. Khurshid, Julie A. Shah

{"title":"Experimental Assessment of Human-Robot Teaming for Multi-Step Remote Manipulation with Expert Operators","authors":"Claudia Pérez-D'Arpino, Rebecca P. Khurshid, Julie A. Shah","doi":"10.1145/3618258","DOIUrl":"https://doi.org/10.1145/3618258","url":null,"abstract":"Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level cognition and dexterity (e.g. robotic surgery and manufacturing). These systems typically use direct teleoperation at the motion level, and are usually limited to low-DOF arms and 2D perception. Improving dexterity and situational awareness demands new interaction and planning workflows. We explore the use of human-robot teaming through teleautonomy with assisted planning for remote control of a dual-arm dexterous robot for multi-step manipulation, and conduct a within-subjects experimental assessment (n=12 expert users) to compare it with direct teleoperation with an imitation controller with 2D and 3D perception, as well as teleoperation through a teleautonomy interface. The proposed assisted planning approach achieves task times comparable with direct teleoperation while improving other objective and subjective metrics, including re-grasps, collisions, and TLX workload. Assisted planning in the teleautonomy interface achieves faster task execution, and removes a significant interaction with the operator’s expertise level, resulting in a performance equalizer across users. Our study protocol, metrics and models for statistical analysis might also serve as a general benchmarking framework in teleoperation domains. Accompanying video and reference R code: https://people.csail.mit.edu/cdarpino/THRIteleop/","PeriodicalId":36515,"journal":{"name":"ACM Transactions on Human-Robot Interaction","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135944946","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2