Javier Ruiz-del-Solar, Mauricio Correa, Rodrigo Verschae, Fernando Bernuy, P. Loncomilla, Mauricio Mascaró, R. Riquelme, Felipe Smith
{"title":"Bender: a general-purpose social robot with human-robot interaction capabilities","authors":"Javier Ruiz-del-Solar, Mauricio Correa, Rodrigo Verschae, Fernando Bernuy, P. Loncomilla, Mauricio Mascaró, R. Riquelme, Felipe Smith","doi":"10.5898/JHRI.1.2.RUIZ-DEL-SOLAR","DOIUrl":"https://doi.org/10.5898/JHRI.1.2.RUIZ-DEL-SOLAR","url":null,"abstract":"The main goal of this article is to describe Bender, a general-purpose social robot with human--robot interaction capabilities, and to report and analyze its applicability in three different natural environments: (i) home settings, (ii) school classrooms, and (iii) public places. Evaluation of the robot's performance is based on its ability to detect and identify humans in those settings, its ability to express emotions, and its ability to interact naturally with humans. The obtained results, although preliminary, indicate that the robot has great acceptance from expert and non-expert human users alike, and that it is able to interact successfully with humans using human-like interaction mechanisms, such as speech and visual cues (particularly facial information). It is remarkable that the robot even has the potential to teach children in a real classroom setting. Further experiments will be conducted in order to better assess the robot's potential.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-01-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.1.2.RUIZ-DEL-SOLAR","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71217550","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}
E. Torta, J. Oberzaucher, Franz Werner, R. Cuijpers, J. Juola
{"title":"Attitudes towards socially assistive robots in intelligent homes","authors":"E. Torta, J. Oberzaucher, Franz Werner, R. Cuijpers, J. Juola","doi":"10.5898/JHRI.1.2.Torta","DOIUrl":"https://doi.org/10.5898/JHRI.1.2.Torta","url":null,"abstract":"The near future will see an increasing demand of elder care and a shortage of professional and informal caregivers. In this context, ageing societies would benefit from the design of intelligent homes that provide assistance. The choice of interfaces between the assistive environment and the user is of great importance and determines the degree of user acceptance of this technology. Socially assistive robots are one of the most promising interfaces. Their embodiment and multimodal communication channels could potentially provide a large number of services that otherwise would have to be carried out by a variety of dedicated systems. Furthermore, evidence suggests that people perceive robots more as companions and social actors than tools and this is likely to steer user acceptance positively. This paper presents the authors' work related to the EU-FP7 project KSERA, a project that aims at introducing a socially assistive robot that acts as a proactive communication interface in smart home environments. In particular, it gives an overview of (1) human--robot interaction studies conducted in Eindhoven (The Netherlands) whose general aim was to preliminary assess the added value of socially assistive robots in intelligent homes and (2) the KSERA project field trials in Schwechat (Vienna) and Tel Aviv (Israel) that tested an integrated smart-home/robot system with real end users (N=16) in three real-world scenarios. Overall, results show that socially assistive robots positively affect user experience and motivation compared to standard smart environment interfaces such as touch screens. However, people still tend to prefer conventional interfaces for receiving information.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-01-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.1.2.Torta","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71217557","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":"Toward open knowledge enabling for human-robot interaction","authors":"Xiaoping Chen, J. Xie, Jianmin Ji, Zhiqiang Sui","doi":"10.5898/JHRI.1.2.Chen","DOIUrl":"https://doi.org/10.5898/JHRI.1.2.Chen","url":null,"abstract":"This paper presents an effort to enable robots to utilize open-source knowledge resources autonomously for human-robot interaction. The main challenges include how to extract knowledge in semi-structured and unstructured natural languages, how to make use of multiple types of knowledge in decision making, and how to identify the knowledge that is missing. A set of techniques for multi-mode natural language processing, integrated decision making, and open knowledge searching is proposed. The OK-KeJia robot prototype is implemented and evaluated, with special attention to two tests on 11,615 user tasks and 467 user desires. The experiments show that the overall performance improves remarkably due to the use of appropriate open knowledge.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-01-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.1.2.Chen","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71217771","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}
François Ferland, D. Létourneau, A. Aumont, J. Frémy, Marc-Antoine Legault, M. Lauria, F. Michaud
{"title":"Natural interaction design of a humanoid robot","authors":"François Ferland, D. Létourneau, A. Aumont, J. Frémy, Marc-Antoine Legault, M. Lauria, F. Michaud","doi":"10.5898/JHRI.1.2.Ferland","DOIUrl":"https://doi.org/10.5898/JHRI.1.2.Ferland","url":null,"abstract":"Designing robots that interact naturally with people requires the integration of technologies and algorithms for communication modalities such as gestures, movement, facial expressions and user interfaces. To understand interdependence among these modalities, evaluating the integrated design in feasibility studies provides insights about key considerations regarding the robot and potential interaction scenarios, allowing the design to be iteratively refined before larger-scale experiments are planned and conducted. This paper presents three feasibility studies with IRL-1, a new humanoid robot integrating compliant actuators for motion and manipulation along with artificial audition, vision, and facial expressions. These studies explore distinctive capabilities of IRL-1, including the ability to be physically guided by perceiving forces through elastic actuators used for active steering of the omnidirectional platform; the integration of vision, motion and audition for an augmented telepresence interface; and the influence of delays in responding to sounds. In addition to demonstrating how these capabilities can be exploited in human-robot interaction, this paper illustrates intrinsic interrelations between design and evaluation of IRL-1, such as the influence of the contact point in physically guiding the platform, the synchronization between sensory and robot representations in the graphical display, and facial gestures for responsiveness when computationally expensive processes are used. It also outlines ideas regarding more advanced experiments that could be conducted with the platform.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-01-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.1.2.Ferland","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71217780","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":"Wizard of Oz studies in HRI","authors":"L. Riek","doi":"10.5898/JHRI.1.1.Riek","DOIUrl":"https://doi.org/10.5898/JHRI.1.1.Riek","url":null,"abstract":"Many researchers use Wizard of Oz (WoZ) as an experimental technique, but there are methodological concerns over its use, and no comprehensive criteria on how to best employ it. We systematically review 54 WoZ experiments published in the primary HRI publication venues from 2001 -- 2011. Using criteria proposed by Fraser and Gilbert (1991), Green et al. (2004), Steinfeld et al. (2009), and Kelley (1984), we analyzed how researchers conducted HRI WoZ experiments. Researchers mainly used WoZ for verbal (72.2%) and non-verbal (48.1%) processing. Most constrained wizard production (90.7%), but few constrained wizard recognition (11%). Few reported measuring wizard error (3.7%), and few reported pre-experiment wizard training (5.4%). Few reported using WoZ in an iterative manner (24.1%). Based on these results we propose new reporting guidelines to aid future research.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.1.1.Riek","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71217708","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":"Timing in multimodal turn-taking interactions","authors":"Crystal Chao, A. Thomaz","doi":"10.5898/JHRI.1.1.Chao","DOIUrl":"https://doi.org/10.5898/JHRI.1.1.Chao","url":null,"abstract":"Turn-taking interactions with humans are multimodal and reciprocal in nature. In addition, the timing of actions is of great importance, as it influences both social and task strategies. To enable the precise control and analysis of timed discrete events for a robot, we develop a system for multimodal collaboration based on a timed Petri net (TPN) representation. We also argue for action interruptions in reciprocal interaction and describe its implementation within our system. Using the system, our autonomously operating humanoid robot Simon collaborates with humans through both speech and physical action to solve the Towers of Hanoi, during which the human and the robot take turns manipulating objects in a shared physical workspace. We hypothesize that action interruptions have a positive impact on turn-taking and evaluate this in the Towers of Hanoi domain through two experimental methods. One is a between-groups user study with 16 participants. The other is a simulation experiment using 200 simulated users of varying speed, initiative, compliance, and correctness. In these experiments, action interruptions are either present or absent in the system. Our collective results show that action interruptions lead to increased task efficiency through increased user initiative, improved interaction balance, and higher sense of fluency. In arriving at these results, we demonstrate how these evaluation methods can be highly complementary in the analysis of interaction dynamics.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.1.1.Chao","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71217828","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":"Children teach a care-receiving robot to promote their learning","authors":"F. Tanaka, Shizuko Matsuzoe","doi":"10.5898/JHRI.1.1.Tanaka","DOIUrl":"https://doi.org/10.5898/JHRI.1.1.Tanaka","url":null,"abstract":"In contrast to conventional teaching agents (including robots) that were designed to play the role of human teachers or caregivers, we propose the opposite scenario in which robots receive instruction or care from children. We hypothesize that by using this care-receiving robot, we may construct a new educational framework whose goal is to promote children's spontaneous learning by teaching through their teaching the robot. In this paper, we describe the introduction of a care-receiving robot into a classroom at an English language school for Japanese children (3--6 years of age) and then conduct an experiment to evaluate if the care-receiving robot can promote their learning using English verbs. The results suggest that the idea of a care-receiving robot is feasible and that the robot can help children learn new English verbs efficiently. In addition, we report on investigations into several forms of teaching performed by children, which were revealed through observations of the children, parent interviews, and other useful knowledge. These can be used to improve the design of care-receiving robots for educational purposes.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.1.1.Tanaka","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71217759","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}
Elizabeth S. Kim, Rhea Paul, Frederick Shic, B. Scassellati
{"title":"Bridging the research gap","authors":"Elizabeth S. Kim, Rhea Paul, Frederick Shic, B. Scassellati","doi":"10.5898/JHRI.1.1.Kim","DOIUrl":"https://doi.org/10.5898/JHRI.1.1.Kim","url":null,"abstract":"While there is a rich history of studies involving robots and individuals with autism spectrum disorders (ASD), few of these studies have made substantial impact in the clinical research community. In this paper we first examine how differences in approach, study design, evaluation, and publication practices have hindered uptake of these research results. Based on ten years of collaboration, we suggest a set of design principles that satisfy the needs (both academic and cultural) of both the robotics and clinical autism research communities. Using these principles, we present a study that demonstrates a quantitatively measured improvement in human-human social interaction for children with ASD, effected by interaction with a robot.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.1.1.Kim","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71217844","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 inaugural issue","authors":"L. Takayama, Willow Garage, B. Scassellati","doi":"10.5898/JHRI/1.1.TAKAYAMA","DOIUrl":"https://doi.org/10.5898/JHRI/1.1.TAKAYAMA","url":null,"abstract":"The intertwining of people and robots is at the very heart of human-robot interaction. The design of effective human-robot interactions depends not only upon an elegant and thorough engineering design for the robot's behavior, but also a clear and insightful understanding of how the human user is likely to behave toward the robot. This presents a challenge and an opportunity for engaging robotics systems research with the cognitive, behavioral, and social sciences. Without a deeper understanding of human user contexts, real user needs, and an ability to evaluate a robotic system's performance in terms of user needs, robotics runs the risk of inventing technologies for the sake of the technologies themselves. Without a thorough understanding of the state-of-the-art in robotics, user research runs the risk of generating superficial or irrelevant recommendations for robotic system design.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI/1.1.TAKAYAMA","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71218671","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}
Marcus Mast, M. Burmester, Katja Krüger, S. Fatikow, Georg Arbeiter, B. Graf, G. Kronreif, L. Pigini, D. Facal, Renxi Qiu
{"title":"User-centered design of a dynamic-autonomy remote interaction concept for manipulation-capable robots to assist elderly people in the home","authors":"Marcus Mast, M. Burmester, Katja Krüger, S. Fatikow, Georg Arbeiter, B. Graf, G. Kronreif, L. Pigini, D. Facal, Renxi Qiu","doi":"10.5898/JHRI.1.1.Mast","DOIUrl":"https://doi.org/10.5898/JHRI.1.1.Mast","url":null,"abstract":"In this article, we describe the development of a human-robot interaction concept for service robots to assist elderly people in the home with physical tasks. Our approach is based on the insight that robots are not yet able to handle all tasks autonomously with sufficient reliability in the complex and heterogeneous environments of private homes. We therefore employ remote human operators to assist on tasks a robot cannot handle completely autonomously. Our development methodology was user-centric and iterative, with six user studies carried out at various stages involving a total of 241 participants. The concept is under implementation on the Care-O-bot 3 robotic platform. The main contributions of this article are (1) the results of a survey in form of a ranking of the demands of elderly people and informal caregivers for a range of 25 robot services, (2) the results of an ethnography investigating the suitability of emergency teleassistance and telemedical centers for incorporating robotic teleassistance, and (3) a user-validated human-robot interaction concept with three user roles and corresponding three user interfaces designed as a solution to the problem of engineering reliable service robots for home environments.","PeriodicalId":92076,"journal":{"name":"Journal of human-robot interaction","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.5898/JHRI.1.1.Mast","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71217699","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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