2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)最新文献

{"title":"Social robotic application to support active and healthy ageing","authors":"S. Cooper, Alessandro Di Fava, Óscar Villacañas, T. Silva, V. Fernández-Carbajales, Luis Unzueta, Manex Serras, Luca Marchionni, F. Ferro","doi":"10.1109/RO-MAN50785.2021.9515432","DOIUrl":"https://doi.org/10.1109/RO-MAN50785.2021.9515432","url":null,"abstract":"With the world population ageing and with the number of healthcare users needing assistance and support increasing, healthcare is becoming more costly and, as such, the need to optimise and support independent living for older people is of paramount importance. This paper reviews the user requirements and challenges that are relevant to older adults who prefer to age healthily at home, and how socially assistive robots (SAR) can be used to help them. The main focus is placed on the social robotic application developed for the H2020 SHAPES project to promote Smart Living Environment for healthy ageing. The solution is based on the newest PAL Robotics’ robot ARI, a high-performance social robot and companion designed for a wide range of multi-modal expressive gestures, gaze and personalised behaviour, which is integrated via several Digital Solutions developed within the SHAPES project to improve human-robot interaction and user acceptability for independent living support tasks. The validation process will take place over the coming months at Clinica Humana (Mallorca, Spain), which is a private clinic that provides hospital care to retirement homes, communities and home-bound patients. A description of the scenario definition is presented in the paper, together with the validation plan that will be executed during the pilot assessments and the measures that will be taken to improve user engagement.","PeriodicalId":6854,"journal":{"name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","volume":"1 1","pages":"1074-1080"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89657834","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}

{"title":"Evaluation of Human-Robot Teleoperation Interfaces for Soft Robotic Manipulators","authors":"Arturo Amaya, Dimuthu D. K. Arachchige, Jonathan Grey, I. Godage","doi":"10.1109/RO-MAN50785.2021.9515508","DOIUrl":"https://doi.org/10.1109/RO-MAN50785.2021.9515508","url":null,"abstract":"Soft robotic manipulators (SRM) are biologically inspired from animal appendages such as elephant trunks and octopuses’ arms. In contrast to traditional rigid robotic manipulators, SRMs are made of flexible material and generate motion through structural deformation. Thus, they more easily adapt to unstructured environments. Teleoperated SRMs can be used in spaces harmful or impractical to humans (i.e., nuclear radiation or minimally invasive surgical sites). Limited research is available on the factors that affect human performance during the teleoperation of SRMs. We present two Human-Robot Interfaces (HRI) and conduct user studies on an SRM in object handling tasks and assess the performance of teleoperators using spatial input devices and augmented reality-based input devices. The user interaction is quantified for two types of controllers (Direct and Indirect) in an immersive pick and place operation. A System Usability Scale (SUS) questionnaire is administered to assess the usability of each HRI. Results suggest that the users perform more effectively, make fewer errors using the Indirect Control HRI and participants rated the Indirect Control HRI as more usable regardless of the hardware device.","PeriodicalId":6854,"journal":{"name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","volume":"37 1","pages":"412-417"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87076871","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}

{"title":"Analysis on interaction experiences with intelligent technology and preference of technology use in nursing care*","authors":"H. Miwa, Kentaro Watanabe, Sakiko Itoh, T. Ikeuchi, Tomoko Wakui","doi":"10.1109/RO-MAN50785.2021.9515449","DOIUrl":"https://doi.org/10.1109/RO-MAN50785.2021.9515449","url":null,"abstract":"The shortage of human resources in Japan has become a serious social issue in nursing care services owing to the rapid increase in the demand and the declining working population. Although the use of intelligent technologies such as robots, AI, and IT is expected to offer solutions, little progress has been made in the introduction and extensive use of these technologies in nursing care services. In this study, we aimed to clarify the factors that increase the preference for technology use in nursing care services from the perspective of trust. We conducted an online survey on attitudes towards nursing care and technologies in Japan, and statistically analyzed the relationships among the preference for technology use in nursing care, trust in technologies, and personal characteristics. The results revealed that those with high trust in intelligent technologies were more likely to prefer the use of such technologies in nursing care services.","PeriodicalId":6854,"journal":{"name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","volume":"39 1","pages":"559-564"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87653757","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}

{"title":"\"What Does Your Robot Do?\" A Tabletop Role-Playing Game to Support Robot Design","authors":"Sawyer Collins, S. Šabanović","doi":"10.1109/RO-MAN50785.2021.9515554","DOIUrl":"https://doi.org/10.1109/RO-MAN50785.2021.9515554","url":null,"abstract":"Social robot co-design requires aiding users as they imagine these novel devices within their everyday lives and enabling designers to understand and address users’ experiences. This paper presents the exploratory development and evaluation of a role-playing game aimed at identifying the desired features and uses of a social robot that can assist people diagnosed with depression. Participants (n = 16) played the game as a character with depression, designed a companion robot for that character, and chose reactions to daily challenges. Though participants initially selected robot capabilities based on their own needs, after the game they identified alternative designs that would better address daily challenges faced by individuals with depression. We discuss aspects of the game that allowed participants to understand how various robot characteristics can address the experience of depression and suggest how role-playing games can support users and designers in identifying beneficial features and uses of emerging robotic technologies.","PeriodicalId":6854,"journal":{"name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","volume":"62 1","pages":"1097-1102"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80296830","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}

{"title":"Morphology of socially assistive robots for health and social care: A reflection on 24 months of research with anthropomorphic, zoomorphic and mechanomorphic devices","authors":"H. Bradwell, R. Winnington, Serge Thill, Ray B. Jones","doi":"10.1109/RO-MAN50785.2021.9515446","DOIUrl":"https://doi.org/10.1109/RO-MAN50785.2021.9515446","url":null,"abstract":"This paper reflects on four studies completed over the last 24 months, with social robots including Pepper, Paro, Joy for All cats and dogs, Miro, Pleo, Padbot and cheaper toys, including i) focus groups and interviews on suitable robot pet design, ii) surveys on ethical perceptions of robot pets, and iii) recorded interactions between stakeholders and a range of social robots. In total, up to 371 participants’ views were included across the analysed studies. Data was reviewed and mined for relevance to the use and impact of morphology types for social robots in health and social care. Results suggested biomorphic design was preferable over mechanomorphic, and speech and life-simulation features (such as breathing) were well received. Anthropomorphism demonstrated some limitations in evoking fear and task-expectations that were absent for zoomorphic designs. The combination of familiar, zoomorphic appearance with animacy, life-simulation and speech capabilities thus appeared to be an area of research for future robots developed for health and social care.","PeriodicalId":6854,"journal":{"name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","volume":"1 1","pages":"376-383"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81578324","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}

{"title":"How experts explain motion planner output: a preliminary user-study to inform the design of explainable planners","authors":"M. Brandão, Gerard Canal, Senka Krivic, P. Luff, A. Coles","doi":"10.1109/RO-MAN50785.2021.9515407","DOIUrl":"https://doi.org/10.1109/RO-MAN50785.2021.9515407","url":null,"abstract":"Motion planning is a hard problem that can often overwhelm both users and designers: due to the difficulty in understanding the optimality of a solution, or reasons for a planner to fail to find any solution. Inspired by recent work in machine learning and task planning, in this paper we are guided by a vision of developing motion planners that can provide reasons for their output—thus potentially contributing to better user interfaces, debugging tools, and algorithm trustworthiness. Towards this end, we propose a preliminary taxonomy and a set of important considerations for the design of explainable motion planners, based on the analysis of a comprehensive user study of motion planning experts. We identify the kinds of things that need to be explained by motion planners (\"explanation objects\"), types of explanation, and several procedures required to arrive at explanations. We also elaborate on a set of qualifications and design considerations that should be taken into account when designing explainable methods. These insights contribute to bringing the vision of explainable motion planners closer to reality, and can serve as a resource for researchers and developers interested in designing such technology.","PeriodicalId":6854,"journal":{"name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","volume":"86 1","pages":"299-306"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83931677","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}

{"title":"Improving Safety in Human-Robot Collaboration via Dynamic Active Constraints Enforcement*","authors":"George S. Kanakis, G. Rovithakis","doi":"10.1109/RO-MAN50785.2021.9515497","DOIUrl":"https://doi.org/10.1109/RO-MAN50785.2021.9515497","url":null,"abstract":"The problem of motion planning in obstacle cluttered environments is an important task in robotics. In the literature several methodologies exist to address the problem. In this work we consider using the feedback-based approach, where the solution comes from designing a controller capable of guaranteeing trajectory tracking with obstacle avoidance. Commonly, all respective studies consider simplified robot dynamics, which is usually insufficient in practical applications. In this work we focus on the collision avoidance problem with respect to a moving spherical object. We assume knowledge of a nominal controller that achieves tracking of a desired trajectory in the absence of obstacles, and we design an auxiliary control scheme to guarantee that the robot’s end-effector will always operate in a safe distance from the moving obstacle’s surface. The controller we develop does not take into account the actual robot dynamics, thus constituting a truly model-free approach. Experimental studies conducted on a KUKA LWR4+ robotic manipulator clarify and verify the proposed control scheme.","PeriodicalId":6854,"journal":{"name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","volume":"158 1","pages":"515-519"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80608590","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}

{"title":"Trust me! I am a robot: an affective computational account of scaffolding in robot-robot interaction","authors":"M. Kirtay, Erhan Öztop, M. Asada, V. Hafner","doi":"10.1109/RO-MAN50785.2021.9515494","DOIUrl":"https://doi.org/10.1109/RO-MAN50785.2021.9515494","url":null,"abstract":"Forming trust in a biological or artificial interaction partner that provides reliable strategies and employing the learned strategies to scaffold another agent are critical problems that are often addressed separately in human-robot and robot-robot interaction studies. In this paper, we provide a unified approach to address these issues in robot-robot interaction settings. To be concrete, we present a trust-based affective computational account of scaffolding while performing a sequential visual recalling task. In that, we endow the Pepper humanoid robot with cognitive modules of auto-associative memory and internal reward generation to implement the trust model. The former module is an instance of a cognitive function with an associated neural cost determining the cognitive load of performing visual memory recall. The latter module uses this cost to generate an internal reward signal to facilitate neural cost-based reinforcement learning (RL) in an interactive scenario involving online instructors with different guiding strategies: reliable, less-reliable, and random. These cognitive modules allow the Pepper robot to assess the instructors based on the average cumulative reward it can collect and choose the instructor that helps reduce its cognitive load most as the trustworthy one. After determining the trustworthy instructor, the Pepper robot is recruited to be a caregiver robot to guide a perceptually limited infant robot (i.e., the Nao robot) that performs the same task. In this setting, we equip the Pepper robot with a simple theory of mind module that learns the state-action-reward associations by observing the infant robot’s behavior and guides the learning of the infant robot, similar to when it went through the online agent-robot interactions. The experiment results on this robot-robot interaction scenario indicate that the Pepper robot as a caregiver leverages the decision-making policies – obtained by interacting with the trustworthy instructor– to guide the infant robot to perform the same task efficiently. Overall, this study suggests how robotic-trust can be grounded in human-robot or robot-robot interactions based on cognitive load, and be used as a mechanism to choose the right scaffolding agent for effective knowledge transfer.","PeriodicalId":6854,"journal":{"name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","volume":"221 1","pages":"189-196"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83645653","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}

{"title":"Does a wearing change perception toward a robot?","authors":"Natsuki Matsunaga, M. Shiomi","doi":"10.1109/RO-MAN50785.2021.9515366","DOIUrl":"https://doi.org/10.1109/RO-MAN50785.2021.9515366","url":null,"abstract":"Wearable robots are traditionally used as tools for assisting muscular strength and decrease the physical loads of users. In this study, we are interested in the social aspect of wearable robots and investigate the effects of wearing them toward perceived impressions of them. For this purpose, we newly developed a wearable robot, Fylgear, with minimum capabilities to interact with a user. We experimentally investigated whether wearing a robot changes people’s perception of the robot by using different questionnaire items: a set of positive impressions and kawaii (a Japanese word that means \"cute\" that has positive connotations) feeling. The experiment results showed that participants who wear the robot positively evaluated the robot in the context of likeability and total impression, but there are no significant differences in perceived kawaii feelings.","PeriodicalId":6854,"journal":{"name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","volume":"8 1","pages":"963-968"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89441353","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}

{"title":"A Voice Dialog System without Interfering with Human Speech Based on Turn-taking Detection","authors":"Tomoki Inaishi, Mizuki Enoki, H. Noguchi","doi":"10.1109/RO-MAN50785.2021.9515357","DOIUrl":"https://doi.org/10.1109/RO-MAN50785.2021.9515357","url":null,"abstract":"In this study, we developed a new rule-based dialog system that includes both turn-taking detection and response-switching functions. The traditional rule-based part allows the system user to design and customize topics and conversation transitions easily. In addition to the traditional rule-based part, the turn-taking detection function can detect the human speaker’s continuous speech and control the system’s speech response according to the detected continuous speech. This mechanism enables conversations without interfering with the speech of the human speaker. The turn-taking detection was created using a deep neural network (DNN). Using the turn-taking detection result, the response switching function can change three types of response transitions: a back-channeling response, topic changing, and normal conversation transition.To confirm that our developed functions could improve the impressions of rule-based dialog systems, an experiment comparing the dialog system with and without our developed functions was conducted. The system with both turn-taking detection and response switching functions provided a relatively better impression to the participants. Although some improvements are needed for the dialog system, the results suggest that the use of a turn-taking detection function may enable a relatively smooth conversation even with a rule-based dialog system.","PeriodicalId":6854,"journal":{"name":"2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)","volume":"9 2","pages":"820-825"},"PeriodicalIF":0.0,"publicationDate":"2021-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91452368","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}