Alle Publikationen
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2019
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(2019) : Computational Tools for Human-Robot Interaction Design: 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Daegu, Korea: IEEE, S. 733-735
DOI: https://doi.org/10.1109/HRI.2019.8673221 Abstract: Robots must exercise socially appropriate behavior when interacting with humans. How can we assist interaction designers to embed socially appropriate and avoid socially inappropriate behavior within human-robot interactions? We propose a multi-faceted interaction-design approach that intersects human-robot interaction and formal methods to help us achieve this goal. At the lowest level, designers create interactions from scratch and receive feedback from formal verification, while higher levels involve automated synthesis and repair of designs. In this extended abstract, we discuss past, present, and future work within each level of our design approach.
Keywords: Angemessen(heit) (von Technik), automated synthesis, computational tools, Design methodology, Electric breakdown, Formal Methods, formal verification, human-robot interaction, human-robot interaction design, ieee xplore, Interaction Design, interaction designers, Maintenance engineering, multifaceted interaction-design approach, Programming, Robots, socially appropriate behavior, Task Analysis -
(2019) : Good Robot Design or Machiavellian? An In-the-Wild Robot Leveraging Minimal Knowledge of Passersby’s Culture: 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Daegu, Korea: IEEE, S. 382-391
DOI: https://doi.org/10.1109/HRI.2019.8673326 Abstract: Social robots are being designed to use human-like communication techniques, including body language, social signals, and empathy, to work effectively with people. Just as between people, some robots learn about people and adapt to them. In this paper we present one such robot design: we developed Sam, a robot that learns minimal information about a person’s background, and adapts to this background. Our in-the-wild study found that people helped Sam for significantly longer when it adapted to match their background. While initially we saw this as a success, in re-considering our study we started seeing a different angle. Our robot effectively deceived people (changed its story and text), based on some knowledge of their background, to get more work from them. There was little direct benefit to the person from this adaptation, yet the robot stood to gain free labor. We would like to pose the question to the community: is this simply good robot design, or, is our robot being manipulative? Where does the ethical line lay between a robot leveraging social techniques to improve interaction, and the more negative framing of a robot or algorithm taking advantage of people? How can we decide what is good here, and what is less desirable?
Keywords: Body language, Cultural differences, Culture, Ethics, Global communication, human-like communication techniques, human-robot interaction, ieee xplore, in the wild, in-the-wild robot, learning (artificial intelligence), minimal information, Mobile robots, Mood, Moral & Ethik, passersby culture, Persuasive Robots, robot design, Robots, Sam, Shape, social robots, Social signals, social techniques, Task Analysis -
(2019) : Towards Virtual Agents for Supporting Appropriate Small Group Behaviors in Educational Contexts: 2019 11th International Conference on Virtual Worlds and Games for Serious Applications (VS-Games): 2019 11th International Conference on Virtual Worlds and Games for Serious Applications (VS-Games): Hangzhou, China: IEEE, S. 1-2
DOI: https://doi.org/10.1109/VS-Games.2019.8864528 Abstract: Verbal and non-verbal behaviors that we use in order to effectively communicate with other people are vital for our success in our daily lives. Despite the importance of social skills, creating standardized methods for training them and supporting their training is challenging. Information and Communications Technology (ICT) may have a good potential to support social and emotional learning (SEL) through virtual social demonstration games. This paper presents initial work involving the design of a pedagogical scenario to facilitate teaching of socially appropriate and inappropriate behaviors when entering and standing in a small group of people, a common occurrence in collaborative social situations. This is achieved through the use of virtual characters and, initially, virtual reality (VR) environments for supporting situated learning in multiple contexts. We describe work done thus far on the demonstrator scenario and anticipated potentials, pitfalls and challenges involved in the approach.
Keywords: Collaboration, collaborative social situations, computer aided instruction, Demonstration Games, educational contexts, emotional & politeness, Games, ieee xplore, Information and communication technology, information and communications technology, nonverbal behaviors, Politeness, serious games (computing), small group behaviors, Small Groups, Social & Emotional Learning, social and emotional learning, Social robotic, Software agents, Task Analysis, Teaching, Training, Verbal Behavior, virtual agents, Virtual characters, Virtual reality, virtual social demonstration games 2018
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(2018) : Adapting Robot Behavior using Regulatory Focus Theory, User Physiological State and Task-Performance Information: 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN): Nanjing, China: IEEE Robotics & Automation Society, S. 644-651
DOI: https://doi.org/10.1109/ROMAN.2018.8525648 Abstract: Social robots are expected to be part of everyday life of people. This will generate interactions between humans and robots that may have positive or negative effects on the users. In order to minimize the negative effects and increase robot persuasiveness, robots should behave in an appropriate manner by adapting to their users. How to achieve this adaptation remains a challenge. We propose the usage of the Regulatory Focus Theory, user physiological state, and game-performance information in order to detect user stress and adapt the behavior of the robot. We present a longitudinal experiment conducted with 35 participants in a game-like scenario. The robot was trained for adapting to the regulatory focus of the users and decreasing their stress while they were playing the game. For this reason, we trained the robot with 12 participants with Chronic Promotion State and with 12 participants with Chronic Prevention State. We used a Q-Learning algorithm based on the Regulatory Focus of the participants, user stress, and task performance. The model obtained was tested with 2 groups (6 and 5 participants, respectively) according to their Chronic Regulatory Focus. Results show that our system was able to generate a robot behavior capable of increasing robot persuasiveness and reducing user stress, which is of great importance for social robots.
Keywords: Adaptive systems, Angemessen(heit) (von Technik), chronic promotion state, chronic regulatory focus, game-like scenario, game-performance information, Games, human-robot interaction, ieee xplore, learning (artificial intelligence), physiology, regulatory focus theory, robot behavior, robot persuasiveness, Robot sensing systems, social robots, Stress, Task Analysis, Task Performance, task-performance information, user physiological state -
(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 -
(2018) : Artificial Empathy in Social Robots: An analysis of Emotions in Speech: 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN): Nanjing, China: IEEE Robotics & Automation Society, S. 632-637
DOI: https://doi.org/10.1109/ROMAN.2018.8525652 Abstract: Artificial speech developed using speech synthesizers has been used as the voice for robots in Human Robot Interaction (HRI). As humans anthropomorphize robots, an empathetically interacting robot is expected to increase the level of acceptance of social robots. Here, a human perception experiment evaluates whether human subjects perceive empathy in robot speech. For this experiment, empathy is expressed only by adding appropriate emotions to the words in speech. Also, humans’ preferences for a robot interacting with empathetic speech versus a standard robotic voice are also assessed. The results show that humans are able to perceive empathy and emotions in robot speech, and prefer it over the standard robotic voice. It is important for the emotions in empathetic speech to be consistent with the language content of what is being said, and with the human users’ emotional state. Analyzing emotions in empathetic speech using valence-arousal model has revealed the importance of secondary emotions in developing empathetically speaking social robots.
Keywords: Angemessen(heit) (von Technik), Anthropomorphism, appropriate emotions, artificial empathy, artificial speech, control engineering computing, emotion recognition, empathetic speech, empathetically interacting robot, human perception experiment, Human robot interaction, human subjects, human users, human-robot interaction, Humans, ieee xplore, Medical services, robot interacting, Robot sensing systems, robot speech, Robots, service robot, social robots, speech synthesis, speech synthesizers, standard robotic voice, standards, Task Analysis -
(2018) : A Computational Framework for Integrating Task Planning and Norm Aware Reasoning for Social Robots: 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN): Nanjing, China: IEEE Robotics & Automation Society, S. 282-287
DOI: https://doi.org/10.1109/ROMAN.2018.8525577 Abstract: Autonomous robots are envisioned to increasingly become part of our lives in the house, restaurants, hospitals and offices. Additionally, self-driving cars will be soon appearing in city streets and highways and they will have to interact with cars driven by humans as well as other self-driving cars. In these settings the robots not only need to efficiently perform their tasks but also be able to interact with humans in socially appropriate ways. To accomplish this, robots must be able to reason not only on how to perform their tasks, but also incorporate societal values, social norms and legal rules so they can gain human acceptability and trust. Moreover, interactions with these robots will be long term. Long-term human interaction with robots as well as robot combined reasoning about both tasks and social norms generate multiple modeling and computational challenges. In this paper, we address one of the most important of these challenges, namely what is an appropriate and scalable computational framework that enables simultaneous task and normative reasoning. In particular, we report on our work on a novel computational framework, Modular Normative Markov Decision Processes (MNMDP) that integrates reasoning for domain tasks and normative reasoning for long-term autonomy. The MNMDP framework applies normative reasoning considering only the norms that are activated in appropriate contexts, rather than considering the full set of norms, thus significantly reducing computational complexity. The model modularity is also advantageous for long-term human-robot interaction. We present computational experiments that show significant computational improvements as compared with a base Normative Markov Decision Process (MDP) framework that includes the full set of norms.
Keywords: Angemessen(heit) (von Technik), Autonomous automobiles, autonomous robots, Cognition, Computational complexity, Decision theory, human acceptability, human-robot interaction, ieee xplore, inference mechanisms, knowledge based systems, long-term human interaction, Markov processes, MNMDP framework, Mobile robots, modular normative Markov decision processes, norm aware reasoning, normative Markov decision process framework, Normative reasoning, path planning, Planning, robot combined reasoning, self-driving cars, Social Norms, social robots, societal values, Task Analysis, task planning -
(2018) : A Wizard of Oz Study of Human Interest Towards Robot Initiated Human-Robot Interaction: 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN): Nanjing, China: IEEE Robotics & Automation Society, S. 515-521
DOI: https://doi.org/10.1109/ROMAN.2018.8525583 Abstract: Service robots have become a widely used tool in human-friendly assistive tasks in many aspects including social environments. Maintaining a sustainable interaction with humans is essential in performing assistive tasks in this regard. Therefore, a robot must be equipped with intelligent cognitive skills in decision making as well as in making friendly relationships with its human user. Human-like capabilities such as initiating a conversation at the right moment without distracting and maintaining an appropriate interaction are important cues in this context. This paper presents a human study conducted by means of a wizard-of-oz (WoZ) experiment to identify the behavioral features in humans that can be utilized by an assistive robot in a domestic environment to assess the situation prior to an interaction. Both verbal and nonverbal responses of participants towards an interaction initiated by a robot were recorded and analyzed to identify human behavioral changes that portray an interest towards interaction. The experiment was conducted in a simulated domestic environment and findings of the experiment are presented and discussed so that these findings could be made use of when designing human-like social robots in future. Furthermore, human behavioral changes observed during the study are analyzed and critical observations are highlighted.
Keywords: Angemessen(heit) (von Technik), assistive robot, Attitude control, Cognition, Decision Making, Emotional Intelligence, human behavioral changes, Human Factors, human interest, Human robot interaction, human user, human-friendly assistive tasks, human-like social robots, human-robot interaction, ieee xplore, intelligent cognitive skills, interaction initiation, robot initiated human-robot interaction, service robot, Social Environments, Social intelligence, Task Analysis, Tools, wizard of oz, wizard-of-oz experiment, WoZ experiment -
(2018) : Dialogue Behavior Control Model for Expressing a Character of Humanoid Robots: 2018 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA ASC): 2018 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA ASC): Hawaii, United States: IEEE, S. 1732-1737
DOI: https://doi.org/10.23919/APSIPA.2018.8659624 Abstract: This paper addresses character expression for humanoid robots that play a social role via spoken dialogue so that the character matches to the given social role such as a lab guide or a counselor. While conventional methods of character expression mostly focused on changing the style of utterance texts, this study focuses on dialogue behavior features that may affect the impression of spoken dialogue. Specifically, we use five dialogue behavior features: utterance amount, backchannel frequency, backchannel variety, filler frequency, and switching pause length (the time until the system responds). We adopt three character traits of extroversion, emotional instability, and politeness for character expression. We then investigate the relationship between the dialogue behavior features and the character traits by conducting subjective evaluations. A statistical analysis of the subjective evaluations shows that the dialogue behavior features except for the backchannel variety are related to either of the character traits. By using the subjective evaluation scores on the relevant traits, we can train models to control the dialogue behavior features of a robot according to the desired character. Another experimental evaluation demonstrates the feasibility of character expression with regard to the traits of extroversion and politeness.
Keywords: Analytical models, character traits, dialogue behavior control model, dialogue behavior features, emotional & politeness, Frequency control, Humanoid Robots, ieee xplore, interactive systems, Mobile robots, paper addresses character expression, PSYCHOLOGY, Social robotic, speech processing, spoken dialogue, Statistical Analysis, Switches, Task Analysis 2017
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(2017) : Beyond Moral Dilemmas: Exploring the Ethical Landscape in HRI: 2017 12th ACM/IEEE International Conference on Human-Robot Interaction (HRI: Vienna, Austria: Association for Computing Machinery, S. 445-452
Abstract: HRI research has yielded intriguing empirical results connected to ethics and how we act in social contexts with robots, even though much of this work has focused on task-based, one-on-one interaction. In this paper, we point to the need to investigate a wider range of ethically relevant dynamics that interaction with robots carries with it - individually and in groups, with a single robot or more. We specifically examine three areas: 1) the primacy and implicit dynamics of bodily perception, 2) the competing interests at work in a single robot-human interaction, and 3) the social intricacy of multiple agents - robots and humans - communicating and making decisions. While these areas are not exhaustive by any means, we find they yield concrete directions for how HRI can contribute to a widening, intensifying set of ethical debates with critical empirical insight, starting to explore more of the ethical landscape in HRI.
Keywords: critical empirical insight, Decision Making, ethical aspects, ethical debates, ethical landscape, ethically relevant dynamics, Ethics, Ethics in HRI, HRI research, human-robot interaction, ieee xplore, implicit dynamics, Law, Moral & Ethik, moral dilemmas, multiple agents, robot dynamics, Robot sensing systems, robot-human interaction, social contexts, social intricacy, Task Analysis 2015
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(2015) : Of Robots, Humans, Bodies and Intelligence: Body Languages for Human Robot Interaction: 2015 10th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Portland, Oregon, USA: Association for Computing Machinery
Abstract: Modern approaches to the design of robots with increasing amounts of embodied intelligence affect human-robot interaction paradigms. The physical structure of robots is evolving from traditional rigid, heavy industrial machines into soft bodies exhibiting new levels of versatility, adaptability, safety, elasticity, dynamism and energy efficiency. New challenges and opportunities arise for the control of soft robots: for instance, carefully planning for collision avoidance may no longer be a dominating concern, being on the contrary physical interaction with the environment not only allowed, but even desirable to solve complex tasks. To address these challenges, it is often useful to look at how humans use their own bodies in similar tasks, and even in some cases have a direct dialogue between the natural and artificial counterparts. ACM Classification B.0 General.
Keywords: body languages, Body-Robot Interaction, Collision avoidance, contrary physical interaction, Dexterous Manipulation, embodied intelligence, Grasp Control, human-robot interaction, ieee xplore, Impedance Control, Künstliche Intelligenz, Physical Human-Robot Interaction, physical structure, safety, service robot, soft bodies, Soft robotics, soft robots, Task Analysis -
(2015): Stress game: The role of motivational robotic assistance in reducing user’s task stress. In: International Journal of Social Robotics 7 (2), S. 227-240. DOI: 10.1007/s12369-014-0256-9
DOI: https://doi.org/10.1007/s12369-014-0256-9 Abstract: In social HRI context, the robot’s usefulness and appropriate behavior plays an important role. A robot should be able to understand the human’s internal state (i.e., physiological and psychological states) so as to provide an adaptive and thus efficient assistance within daily life activities. Measuring stress and frustration of an individual while performing a certain task is a critical element that can help the robot adapt its behavior so as to improve user’s interest and task performance and to reduce his/her frustration. In this paper, we designed an experiment called ’Stress Game’. In our work, stress is measured in terms of heart rate signal. The robot displays different behaviors as a function of user’s personality and game condition. We conducted our experiments with the NAO robot. The experimental results support our hypotheses that the robot has a positive effect on stress relief. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
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(2015) : May I help you? - Design of Human-like Polite Approaching Behavior-: 2015 10th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Portland, Oregon, USA: Association for Computing Machinery, S. 35-42
Abstract: When should service staff initiate interaction with a visitor? Neither simply-proactive (e.g. talk to everyone in a sight) nor passive (e.g. wait until being talked to) strategies are desired. This paper reports our modeling of polite approaching behavior. In a shopping mall, there are service staff members who politely approach visitors who need help. Our analysis revealed that staff members are sensitive to ‘intentions’ of nearby visitors. That is, when a visitor intends to talk to a staff member and starts to approach, the staff member also walks a few steps toward the visitors in advance to being talked. Further, even when not being approached, staff members exhibit ”availability” behavior in the case that a visitor’s intention seems uncertain. We modeled these behaviors that are adaptive to pedestrians’ intentions, occurred prior to initiation of conversation. The model was implemented into a robot and tested in a real shopping mall. The experiment confirmed that the proposed method is less intrusive to pedestrians, and that our robot successfully initiated interaction with pedestrians.
Keywords: Adaptation models, availability behavior, Behavior Design, Collaboration, Estimation, ieee xplore, initiation of interaction, Intention estimation, Künstliche Intelligenz, learning (artificial intelligence), Micromechanical devices, nearby visitors, polite approaching behavior, robot programming, Robot sensing systems, service staff members, shopping mall, Task Analysis 2014
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(2014) : Robot Etiquette: How to Approach a Pair of People?: 2014 9th ACM/IEEE International Conference on Human-Robot Interaction (HRI): 2014 9th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Bielefeld, Germany: Association for Computing Machinery, S. 196-197
Abstract: Research has been carried out on robots approaching one person [1, 3, 4]. However, further research is needed on robots approaching groups of people. In the study reported in this paper, we studied participants who were paired up for a task and assessed their perception and behaviors as they were approached by a robot from various angles. On an individual level, participants liked the frontal approaches, and they disliked being approached from the back. However, we found that the presence of a task-partner influenced participants’ comfort with a robot approaching (i.e. when the robot approaches and one is standing behind the task-partner). Apart from the positioning of the individuals, the layout of the room, position of furniture and doors, also seemed to influence their experience. This pilot study was performed with a limited number of participants (N=30). However, the study offers preliminary insights into the factors that influence the choice for a robot approach direction when approaching a pair of people that are focused on a task.
Keywords: approach direction, comfort, ethical aspects, frontal approaches, Games, Human Factors, Human robot interaction, human-robot interaction, ieee xplore, individual level, Layout, Legged locomotion, man-machine systems, Moral & Ethik, multiple people, organisational aspects, robot approach direction, robot approaches, robot etiquette, Robots, Task Analysis, task oriented, task-partner influenced participants
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