Alle Publikationen
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2019
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(2019) : An Exploratory Study on Proxemics Preferences of Humans in Accordance with Attributes of Service Robots: 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN): 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN): New Delhi, India: IEEE, S. 1-7
DOI: https://doi.org/10.1109/RO-MAN46459.2019.8956297 Abstract: Service robots that possess social interactive capabilities are vital to cater to the demand in emerging domains of robotic applications. A service robot frequently needs to interact with users when performing service tasks. The comfortability of users depends on the human-robot proxemics during these interactions. Hence, a service robot should be capable of maintaining proper proxemics that improves the comfort of users. The proxemics preferences of users might depend on diverse attributes of a robot, such as emotional state, noise level, and physical appearance. Therefore, it is vital to gain a better understanding of a robot's attributes which influence human-robot proxemics behavior. This paper contributes to an exploratory study to analyze the effects on human-robot proxemics preferences due to a robot's attributes; facial and vocal emotions, level of internal noises, and the physical appearance. Four sub-studies have been conducted to gather the required human-robot proxemics data. The gathered data have been analyzed through statistical tests. The test statistics reveal that facial and vocal emotions, internal noise level, and the physical appearance of a robot have significant effects on proxemics preferences of humans. The outcomes of this exploratory study would be useful in designing and developing human-robot proxemics strategies of a service robot that would enhance social interaction.
Keywords: emotion & social robotics, Human Factors, human-robot interaction, human-robot proxemics behavior, human-robot proxemics data, human-robot proxemics preferences, human-robot proxemics strategies, ieee xplore, Proxemics, robotic applications, service robot, service robotic, Social robotic, statistical testing, statistical tests 2018
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(2018): Toward Socially Aware Person-Following Robots. In: IEEE Transactions on Cognitive and Developmental Systems 10 (4), S. 936-954. DOI: 10.1109/TCDS.2018.2825641
DOI: https://doi.org/10.1109/TCDS.2018.2825641 Abstract: Significant research and development has been invested in technical issues related to person following. However, a systematic approach for designing robotic person-following behavior that maintains appropriate social conventions across contexts has not yet been developed. To understand why this may be the case, an in-depth literature review of 221 articles on person-following robots was performed, from which 107 are referenced. From these papers, six relevant topics were identified that shed light on the types of social interactions that have been studied in person-following scenarios: 1) applications; 2) robotic systems; 3) environments; 4) following strategies; 5) human-robot communication; and 6) evaluation methods. Gaps in the existing research on person-following robots were identified, mainly in addressing social interaction and user needs, noting that only 25 articles reported proper user studies. Human-related, robot-related, task-related, and environment-related factors that are likely to influence people’s spatial preferences and expectations of a robot’s person-following behavior are then discussed. To guide the design of socially aware person following robots, a user-needs layered design framework that combines the four factor categories is proposed. The framework provides a systematic way to incorporate social considerations in the design of person-following robots. Finally, framework limitations and future challenges in the field are presented and discussed.
Keywords: Accompanying robot, Angemessen(heit) (von Technik), environment-related factors, human-related factors, human-robot interaction, Human–robot interaction (HRI), ieee xplore, Legged locomotion, Mobile robots, Navigation, person-following, Proxemics, Robot sensing systems, robotic person-following behavior, robot-related factors, service robot, social interaction, Social interactions, Social robotic, social sciences, socially aware person-following robots, Task Analysis, task-related factors, user needs 2017
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(2017): Recent trends in social aware robot navigation. A survey. In: Robotics and Autonomous Systems 93, S. 85-104. DOI: 10.1016/j.robot.2017.03.002
DOI: https://doi.org/10.1016/j.robot.2017.03.002 Abstract: With the robots tending to accumulate more and more capabilities beyond the level of acting in a deterministic fashion, the idea of introducing them into our every day lives seems to be closer now. Robotics systems and techniques appeared during the recent years have achieved astonishing potential to perceive and interpret their surrounding not only as low level features but also close to human understandable concepts. Such advances, in conjunction with the aspiration to incorporate robots into domestic or public places, led to the flourishing of fields dealing with their response in human presence. Following this notion, the field of social mapping was recently introduced in order to manage the shared space among robots and individuals in an ordinary fashion. This manuscript aims to systemize the recent literature by describing the required levels of robot perception, focusing on methods related to robot’s social awareness, the availability of datasets these methods can be compared with, as well as issues that remain open and need to be confronted when robots operate in close proximity with humans.
2014
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(2014): Evaluation of Proxemic Scaling Functions for Social Robotics. In: IEEE Transactions on Human-Machine Systems 44 (3), S. 374-385. DOI: 10.1109/THMS.2014.2304075
DOI: https://doi.org/10.1109/THMS.2014.2304075 Abstract: This paper introduces and empirically evaluates two scaling functions to alter a robot’s physical movements based on proximity to a human. Previous research has focused on individual aspects of proxemics, like the appropriate distance to maintain from a human, but has not explored autonomous methods to adapt robot behavior as proximity changes. This paper proposes that robots in a social role should modify their behavior using a continuous function mapped to proximity. The method developed calculates a gain value from proximity readings, which is used to shape the execution of active behaviors on the robot. In order to identify the effects of different mappings from proximity to gain value, two different scaling functions were implemented on an affective search and rescue robot. The findings from a 72 participant study, in a high-fidelity mock disaster site, are examined with attention given to a new measure to determine proxemic awareness. The results indicated that for attributes of intelligence, likability, proxemic awareness, and submissiveness, a logarithmic-based scaling function is preferred over a linear-based scaling function, and over no scaling function. In areas of participant comfort and participant stress, the results indicated both logarithmic and linear scaling functions were preferred to no scaling.
Keywords: Angemessen(heit) (von Technik), Atmospheric measurements, autonomous methods, disasters, emergency services, high-fidelity mock disaster site, Human–robot interaction (HRI), human–robot proxemics, ieee xplore, intelligence attributes, Interpolation, Joints, Lighting, linear-based scaling function, logarithmic-based scaling function, Particle measurements, proxemic awareness, proxemic scaling function evaluation, Proxemics, rescue robots, robot physical movements, Robot sensing systems, search, service robot, Social robotic, social robots, submissiveness attributes 2011
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(2011) : Human-robot proxemics: Physical and psychological distancing in human-robot interaction: 2011 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI): 2011 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI): New York, NY, US: Association for Computing Machinery, S. 331-338
DOI: https://doi.org/10.1145/1957656.1957786 Abstract: To seamlessly integrate into the human physical and social environment, robots must display appropriate proxemic behavior-that is, follow societal norms in establishing their physical and psychological distancing with people. Social-scientific theories suggest competing models of human proxemic behavior, but all conclude that individuals’ proxemic behavior is shaped by the proxemic behavior of others and the individual’s psychological closeness to them. The present study explores whether these models can also explain how people physically and psychologically distance themselves from robots and suggest guidelines for future design of proxemic behaviors for robots. In a controlled laboratory experiment, participants interacted with Wakamaru to perform two tasks that examined physical and psychological distancing of the participants. We manipulated the likeability (likeable/dislikeable) and gaze behavior (mutual gaze/averted gaze) of the robot. Our results on physical distancing showed that participants who disliked the robot compensated for the increase in the robot’s gaze by maintaining a greater physical distance from the robot, while participants who liked the robot did not differ in their distancing from the robot across gaze conditions. The results on psychological distancing suggest that those who disliked the robot also disclosed less to the robot. Our results offer guidelines for the design of appropriate proxemic behaviors for robots so as to facilitate effective human-robot interaction.
Keywords: Angemessen(heit) (von Technik), Atmospheric measurements, Computers, disclosure, distancing, Gaze, human proxemic behavior, humanlike robots, human-robot interaction, human-robot proxemics, ieee xplore, individual psychological closeness, Particle measurements, physical distancing, Predictive models, Proxemics, proximity, psychological distancing, PSYCHOLOGY, robot gaze behavior, Robot kinematics, robot likeability, social-scientific theories, societal norms, Wakamaru 2007
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(2007) : Non-facial/non-verbal methods of affective expression as applied to robot-assisted victim assessment: 2007 2nd ACM/IEEE International Conference on Human-Robot Interaction (HRI): New York, NY, US: Association for Computing Machinery, S. 287-294
DOI: https://doi.org/10.1145/1228716.1228755 Abstract: This work applies a previously developed set of heuristics for determining when to use non-facial/non-verbal methods of affective expression to the domain of a robot being used for victim assessment in the aftermath of a disaster. Robot-assisted victim assessment places a robot approximately three meters or less from a victim, and the path of the robot traverses three proximity zones (intimate (contact - 0.46 m), personal (0.46 - 1.22 m), and social (1.22 - 3.66 m)). Robot- and victim-eye views of an Inuktun robot were collected as it followed a path around the victim. The path was derived from observations of a prior robot-assisted medical reachback study. The victim’s-eye views of the robot from seven points of interest on the path illustrate the appropriateness of each of the five primary non-facial/non-verbal methods of affective expression: (body movement, posture, orientation, illuminated color, and sound), offering support for the heuristics as a design aid. In addition to supporting the heuristics, the investigation identified three open research questions on acceptable motions and impact of the surroundings on robot affect.
Keywords: Abstracts, Affective computing, affective expression, Angemessen(heit) (von Technik), Body Movement, body orientation, body posture, design aid, design aids, disaster, disasters, emergency services, human-robot interaction, ieee xplore, illuminated color, Inuktun robot, nonfacial nonverbal method, Non-verbal Communication, Proxemics, robot-assisted medical reachback study, robot-assisted victim assessment, Robotic Design Guidelines, service robot, sound, victim-eye views
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