{"title":"Introduction to journal of human-robot interaction special issue on design","authors":"L. Holmquist, J. Forlizzi","doi":"10.5898/JHRI.3.1.Holmquist","DOIUrl":"https://doi.org/10.5898/JHRI.3.1.Holmquist","url":null,"abstract":"Welcome to the Journal of Human-Robot Interaction's first special issue on design! We strongly believe that design is integral to the continued development of the field of HRI, and we have created this special issue to highlight the many ways in which the field of robotics research is influenced by design---and vice versa.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2014-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.3.1.Holmquist","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71218282","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}
AJung Moon, C. Parker, E. Croft, H. V. D. Van der Loos
{"title":"Design and impact of hesitation gestures during human-robot resource conflicts","authors":"AJung Moon, C. Parker, E. Croft, H. V. D. Van der Loos","doi":"10.5898/JHRI.2.3.Moon","DOIUrl":"https://doi.org/10.5898/JHRI.2.3.Moon","url":null,"abstract":"In collaborative tasks, people often communicate using nonverbal gestures to coordinate actions. When two people reach for the same object at the same time, they often respond to an imminent potential collision with jerky halting hand motions that we term hesitation gestures. Successful implementation of such communicative conflict response behaviour onto robots can be useful. In a myriad of human-robot interaction contexts involving shared spaces and objects, this behaviour can provide a fast and effective means for robots to express awareness of conflict and cede right-of-way during collaborative work with users. Our previous work suggests that when a six-degree-of-freedom (6-DOF) robot traces a simplified trajectory of recorded human hesitation gestures, these robot motions are also perceived by humans as hesitation gestures. In this work, we present a characteristic motion profile derived from the recorded human hesitation motions, called the Acceleration-based Hesitation Profile (AHP). We test its efficacy to generate communicative hesitation responses by a robot in a fast-paced human-robot interaction experiment. Compared to traditional abrupt stopping behaviours, we did not find sufficient evidence that the AHP-based robot responses improve human perception of the robot or human-robot task completion time. However, results from our in situ experiment suggest that subjects can recognize AHP-based robot responses as hesitations and distinguish them to be different from abrupt stopping behaviours.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.2.3.Moon","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71218310","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":"Functional near-infrared spectroscopy in human-robot interaction","authors":"C. Canning, Matthias Scheutz","doi":"10.5898/JHRI.2.3.Canning","DOIUrl":"https://doi.org/10.5898/JHRI.2.3.Canning","url":null,"abstract":"Functional near-infrared spectroscopy (fNIRS) is a promising new tool for research in human-robot interaction (HRI). The technology has already been used for brain-robot interfaces to affect robots' behaviors and as an evaluation tool for assessing brain activity during interactions. In this survey, we provide a comprehensive literature review of published research on fNIRS from various communities to assess its utility in HRI. We discuss four exemplary applications in more detail and also list several challenges that need to be overcome for fNIRS to be an effective tool in realistic HRI settings.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.2.3.Canning","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71218165","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":"Virtual environment-based teleoperation of forestry machines","authors":"S. Westerberg, A. Shiriaev","doi":"10.5898/JHRI.2.3.Westerberg","DOIUrl":"https://doi.org/10.5898/JHRI.2.3.Westerberg","url":null,"abstract":"Virtual environment-assisted teleoperation has great potential as a human-robot interaction paradigm for field robotic systems, in particular when combined with elements of automation. Unstructured outdoor environments present a complex problem with many challenging elements. For the specific application of forestry machines, we investigate which steps are required in order to implement such a system, what potential benefits there are, and how individual components can be adapted to efficiently assist forestry machine operators in their daily work in the near future. An experimental prototype of a teleoperation system with virtual environment-based feedback is constructed using a scenario-based design process. The feasibility of the implementation is partly verified through experimental studies.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.2.3.Westerberg","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71218205","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}
V. Rousseau, François Ferland, D. Létourneau, F. Michaud
{"title":"Sorry to interrupt, but may I have your attention?","authors":"V. Rousseau, François Ferland, D. Létourneau, F. Michaud","doi":"10.5898/JHRI.2.3.Rousseau","DOIUrl":"https://doi.org/10.5898/JHRI.2.3.Rousseau","url":null,"abstract":"The design and the evaluation of an autonomous interactive robot is a challenging research endeavor because there is as much to learn from the interaction between the integrated technologies as there is from the embodied human-robot interaction, in addition to observing their mutual interdependencies. This paper reports on IRL-0, a prototyping platform that we used to conduct preliminary studies on the influences of combining verbal and nonverbal modalities (facial expressions, head movement, arm gestures, and approach trajectory) for engaging interaction with people in controlled conditions and in real-world settings. IRL-0 is made of a compliant omnidirectional mobile base equipped with an expressive face and a three degrees-of-freedom (DOFs) compliant arm. By assembling this prototype and conducting these preliminary studies, our objective is to acquire insights in terms of design (e.g., technology, control) and experimental procedures that are important to take into consideration for the designing and evaluating autonomous robots engaging interaction with people.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.2.3.Rousseau","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71218324","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}
D. Levin, C. Harriott, Natalie Paul, Tao Zhang, J. Adams
{"title":"Cognitive dissonance as a measure of reactions to human-robot interaction","authors":"D. Levin, C. Harriott, Natalie Paul, Tao Zhang, J. Adams","doi":"10.5898/jhri.2.3.levin","DOIUrl":"https://doi.org/10.5898/jhri.2.3.levin","url":null,"abstract":"When people interact with intelligent agents, they likely rely upon a wide range of existing knowledge about machines, minds, and intelligence. This knowledge not only guides these interactions, but it can be challenged and potentially changed by interaction experiences. We hypothesized that a key factor mediating conceptual change in response to human-machine interactions is cognitive conflict, or dissonance. In this experiment, we evaluated whether interactions with a robot partner during a realistic medical triage scenario caused increased levels of cognitive dissonance relative to a control condition in which the same task was performed with a human partner. In addition, we evaluated whether heightened levels of dissonance affected concepts about agents. We observed increased cognitive dissonance after the human-robot interaction and found that this dissonance was correlated with a significantly less intentional (e.g., less human-like) view of the intelligence inherent to computers.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/jhri.2.3.levin","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71218176","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}
Robin Deits, Stefanie Tellex, Pratiksha Thaker, D. Simeonov, T. Kollar, N. Roy
{"title":"Clarifying commands with information-theoretic human-robot dialog","authors":"Robin Deits, Stefanie Tellex, Pratiksha Thaker, D. Simeonov, T. Kollar, N. Roy","doi":"10.5898/JHRI.2.2.Deits","DOIUrl":"https://doi.org/10.5898/JHRI.2.2.Deits","url":null,"abstract":"Our goal is to improve the efficiency and effectiveness of natural language communication between humans and robots. Human language is frequently ambiguous, and a robot's limited sensing makes complete understanding of a statement even more difficult. To address these challenges, we describe an approach for enabling a robot to engage in clarifying dialog with a human partner, just as a human might do in a similar situation. Given an unconstrained command from a human operator, the robot asks one or more questions and receives natural language answers from the human. We apply an information-theoretic approach to choosing questions for the robot to ask. Specifically, we choose the type and subject of questions in order to maximize the reduction in Shannon entropy of the robot's mapping between language and entities in the world. Within the framework of the G3 graphical model, we derive a method to estimate this entropy reduction, choose the optimal question to ask, and merge the information gained from the human operator's answer. We demonstrate that this improves the accuracy of command understanding over prior work while asking fewer questions as compared to baseline question-selection strategies.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71218030","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":"The repertoire of robot behavior","authors":"Chien-Ming Huang, Bilge Mutlu","doi":"10.5898/JHRI.2.2.Huang","DOIUrl":"https://doi.org/10.5898/JHRI.2.2.Huang","url":null,"abstract":"In social interaction, people draw on a large repertoire of social acts tailoring their use of these acts to meet the demands of the social situation and to achieve the goals of the interaction. This paper presents an approach to creating such a repertoire of social acts for robots and enabling designers to specify the social situation to which robots may adapt their behaviors. Drawing on principles of Activity Theory and social-scientific findings on human social behavior, this paper introduces an implementation of this approach---the Robot Behavior Toolkit---and two studies that use a limited, proof-of-concept repertoire of specifications for gaze cues to demonstrate the feasibility of this approach for controlling robot gaze behavior. The first study assessed the feasibility of the use of this repertoire, comparing it to alternative, baseline repertoires in two human-robot interaction tasks, and found that it enabled the robot to more effectively support the interaction goals. The second study investigated the feasibility of the robot adapting its use of the repertoire to a social situation by comparing different goal specifications in two human-robot interaction tasks. The results showed that these specifications enabled the robot to achieve some of its task and communicative goals, although participant gender strongly affected whether the robot elicited these interaction outcomes.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.2.2.Huang","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71218095","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":"Teleoperation with intelligent and customizable interfaces","authors":"A. Dragan, S. Srinivasa, Kenton Lee","doi":"10.5898/JHRI.2.2.Dragan","DOIUrl":"https://doi.org/10.5898/JHRI.2.2.Dragan","url":null,"abstract":"In this paper, we explore a class of teleoperation problems where a user controls a sophisticated device (e.g. a robot) via an interface to perform a complex task. Teleoperation interfaces are fundamentally limited by the indirectness of the process, by the fact that the user is not physically executing the task. In this work, we study intelligent and customizable interfaces: these are interfaces that mediate the consequences of indirectness and make teleoperation more seamless. They are intelligent in that they take advantage of the robot's autonomous capabilities and assist in accomplishing the task. They are customizable in that they enable the users to adapt the retargetting function which maps their input onto the robot. Our studies support the advantages of such interfaces, but also point out the challenges they bring. We make three key observations. First, although assistance can greatly improve teleperation, the decision on how to provide assistance must be contextual. It must depend, for example, on the robot's confidence in its prediction of the user's intent. Second, although users do have the ability to provide intent-expressive input that simplifies the robot's prediction task, this ability can be hindered by kinematic differences between themselves and the robot. And third, although interface customization is important, it must be robust to poor examples from the user.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.2.2.Dragan","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71218041","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":"Introduction to the special issue on technical and social advances in HRI","authors":"M. Goodrich","doi":"10.5898/JHRI.2.2.Goodrich","DOIUrl":"https://doi.org/10.5898/JHRI.2.2.Goodrich","url":null,"abstract":"One of the goals of the Journal of Human-Robot Interaction (JHRI) is to promote a stronger research community, including interactions among HRI-relevant conferences and journals. This issue is comprised of papers that first appeared in another format, usually a conference, and that exhibited special insights or area of interest. Authors were invited to submit extensions to these papers with at least 50% new material and told that the papers would be reviewed relative to the standard of scholarship suited to an archival journal. Submitted papers were then reviewed by at least three reviewers, who were instructed to hold the papers to a journal-level standard for scholarship. Of the papers that were invited, five papers were selected for publication.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.2.2.Goodrich","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71218052","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}
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