Alle Publikationen
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2017
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(2017) : Cross-cultural differences for adaptive strategies of robots in public spaces: 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN): Lisbon, Portugal: IEEE Robotics & Automation Society, S. 573-578
DOI: https://doi.org/10.1109/ROMAN.2017.8172360 Abstract: Robots deployed in public spaces must necessarily deal with situations that demand them to engage humans in a socially and culturally appropriate manner. However, social environments are often complex and ambiguous: many queries to the robot are collaborative (e.g. a family), and in case of conflicting queries, social robots need to participate in value decisions and negotiating multi-party interactions. Given the strong influence of the people’s demographic information and social schema among people, such as relationships and hierarchies, the focus of this research is to examine whether and how people exhibit socio-psychological effects with a shared robot deployed at international events or spaces (e.g. airports). With the aim to investigate who robots should adapt to (children or adults) in multi-party situations within human-robot interactions in public spaces and whether this adaptation can be influenced by culture, this paper presents a cross-cultural study conducted online. The results include a number of interesting findings based on people’s relationship with a child and their parental status. In addition, a number of cross-cultural differences were identified in respondents’ attitude towards robot’s multi-party adaptation in various public settings.
Keywords: Airports, Angemessen(heit) (von Technik), control engineering computing, cross-cultural differences, cultural aspects, Cultural differences, Face recognition, Foot, human-robot interaction, human-robot interactions, ieee xplore, multiparty adaptation, PSYCHOLOGY, public spaces, Robots, social robots, socio-psychological effects, speech, Videos -
(2017) : Turn-taking intention recognition using multimodal cues in social human-robot interaction: 2017 17th International Conference on Control, Automation and Systems (ICCAS): Jeju, Korea: IEEE, S. 1300-1302
DOI: https://doi.org/10.23919/ICCAS.2017.8204407 Abstract: Turn-taking is an essential social skill for human communication. The robot needs to recognize the end of turn for timely response to the user with little delay in human-robot interaction. In this paper, we propose a turn-taking intention recognition system that determine the timing of turn-taking using multimodal cues in social Human-Robot Interaction (sHRI). In order to evaluate the turn-taking intention recognition system, we collect multimodal data set and conducted experiments. To that end, we designed a human-robot interaction scenario including turn-taking and conducted an experiment with 30 participants using the humanoid robot NAO. In experiments, we validate recognition models trained multimodal dataset by machine learning methods.
Keywords: Encoding, essential social skill, Floors, human communication, humanoid robot NAO, Humanoid Robots, human-robot interaction, ieee xplore, Künstliche Intelligenz, learning (artificial intelligence), Lips, machine learning methods, multimodal cues, multimodal dataset, Robots, sHRI, social human-robot interaction, Social robot, speech, timing, Turn-Taking, turn-taking intention recognition system 2016
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(2016) : Who should robots adapt to within a multi-party interaction in a public space?: 2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI): Christchurch, New Zealand: IEEE Press, S. 483-484
DOI: https://doi.org/10.1109/HRI.2016.7451817 Abstract: Robots in public environments are challenged with socially appropriate interactions with previously unseen users: they need to offer appropriate services and shape their interaction style according to the particular individual’s needs and preferences, for example the elderly and children. In addition, interactions in public spaces are not limited to merely two parties, but often involve multi-party situations with changing numbers of participants. The research question of this work is to investigate what rules should a socially competent robot follow in order to adapt to such complex social situations in real-world scenarios.
Keywords: Analysis of Variance, Angemessen(heit) (von Technik), complex social situations, Hospitals, Humanoid Robots, human-robot interaction, ieee xplore, Information exchange, intelligent robots, Legged locomotion, multiparty interaction, Multi-Party Interaction, public environments, public spaces, real-world scenarios, Robot sensing systems, service robot, Social robotic, socially appropriate interactions, socially competent robot, speech, user needs, user preferences 2014
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(2014) : How to train your robot - teaching service robots to reproduce human social behavior: The 23rd IEEE International Symposium on Robot and Human Interactive Communication: Edinburgh, Scotland: IEEE, S. 961-968
DOI: https://doi.org/10.1109/ROMAN.2014.6926377 Abstract: Developing interactive behaviors for social robots presents a number of challenges. It is difficult to interpret the meaning of the details of people’s behavior, particularly non-verbal behavior like body positioning, but yet a social robot needs to be contingent to such subtle behaviors. It needs to generate utterances and non-verbal behavior with good timing and coordination. The rules for such behavior are often based on implicit knowledge and thus difficult for a designer to describe or program explicitly. We propose to teach such behaviors to a robot with a learning-by-demonstration approach, using recorded human-human interaction data to identify both the behaviors the robot should perform and the social cues it should respond to. In this study, we present a fully unsupervised approach that uses abstraction and clustering to identify behavior elements and joint interaction states, which are used in a variable-length Markov model predictor to generate socially-appropriate behavior commands for a robot. The proposed technique provides encouraging results despite high amounts of sensor noise, especially in speech recognition. We demonstrate our system with a robot in a shopping scenario.
Keywords: abstraction, Angemessen(heit) (von Technik), Cameras, clustering, human social behavior reproduction, human-human interaction data, human-robot interaction, ieee xplore, Joints, learning by example, learning-by-demonstration approach, Markov processes, pattern clustering, Robot sensing systems, robot training, service robot, service robot teaching, shopping scenario, socially-appropriate behavior command generation, speech, speech recognition, Trajectory, unsupervised approach, unsupervised learning, variable-length Markov model predictor -
(2014) : A system for feature classification of emotions based on speech analysis; applications to human-robot interaction: 2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM): Tehran, Iran: IEEE, S. 795-800
DOI: https://doi.org/10.1109/ICRoM.2014.6991001 Abstract: A system for recognition of emotions based on speech analysis can have interesting applications in human robot interaction. Robot should make a proper mutual communication between sound recognition and perception for creating a desired emotional interaction with humans. Advanced research in this field will be based on sound analysis and recognition of emotions in spontaneous dialog. In this paper, we report the results obtained from an exploratory study on a methodology to automatically recognize and classify basic emotional states. The study attempted to investigate the appropriateness of using acoustic and phonetic properties of emotive speech with the minimal use of signal processing algorithms. The efficiency of the methodology was evaluated by experimental tests on adult European speakers. The speakers had to repeat six simple sentences in English language in order to emphasize features of the pitch (peak, value and range), the intensity of the speech, the formants and the speech rate. The proposed methodology using the freeware program (PRAAT) and consists of generating and analyzing a graph of pitch, formant and intensity of speech signals for classify basic emotion. Eventually, the proposed model provided successful recognition of the basic emotion in most of the cases.
Keywords: acoustic properties, Acoustics, adult European speakers, Angemessen(heit) (von Technik), emotion feature classification, emotion recognition, emotional interaction, emotional state classification, emotional state recognition, emotive speech, English language, Feature extraction, formant, formants, graph analysis, graph generation, graph theory, human-robot interaction, ieee xplore, mutual communication, phonetic properties, pitch, pitch features, PRAAT freeware program, public domain software, Shape, signal classification, signal processing algorithms, sound analysis, sound perception, sound recognition, speech, speech analysis, speech intensity, speech rate, speech recognition, speech signals, spontaneous dialog -
(2014): What looks like sexism and why? The effect of comment type and perpetrator type on women's perceptions of sexism. In: The Journal of general psychology 141 (3), S. 263-279. DOI: 10.1080/00221309.2014.907769
DOI: http://www.ncbi.nlm.nih.gov/pubmed/24940815 Abstract: Sexist comments are not perceived equally in the eyes of women. We extend previous research by examining the degree to which multiple types of potentially sexist comments made by multiple types of men are perceived as sexist. Further, we examine the degree to which three possible mediators--prototypicality, perceived intent, and interdependence--explained these effects. Female undergraduate students (N = 248) were randomly assigned to read a scenario in which a hostile sexist, benevolent sexist, or objectifying comment was made by one of three types of men: a stranger, their boss, or their boyfriend. Results demonstrate that hostile sexism was perceived as more sexist than benevolent sexism or objectification. Comments made by boyfriends were also rated as less sexist than those made by bosses or strangers. Furthermore, perceptions of prototypicality of the comment or perpetrator and perceived intent to harm mediated the effect of study manipulations on perceptions of sexism.
Keywords: Adolescent, Adult, Beneficence, Einzelstudie / spezifisch, Female, Hostility, Humans, Kommunikation, Male, Sexism, Social Perception, speech, Women, Young Adult -
(2014): Evaluation of Head Gaze Loosely Synchronized With Real-Time Synthetic Speech for Social Robots. In: IEEE Transactions on Human-Machine Systems 44 (6), S. 767-778. DOI: 10.1109/THMS.2014.2342035
DOI: https://doi.org/10.1109/THMS.2014.2342035 Abstract: This study demonstrates that robots can achieve socially acceptable interactions using loosely synchronized head gaze-speech acts. Prior approaches use tightly synchronized head gaze-speech, which requires significant human effort and time to manually annotate synchronization events in advance, restricts interactive dialog, or requires that the operator acts as a puppeteer. This paper describes how autonomous synchronization of head gaze can be achieved by exploiting affordances in the sentence structure and time delays. A 93-participant user study was conducted in a simulated disaster site. The rescue robot “Survivor Buddy” generated head gaze for a victim management scenario using a 911 dialog. The study used pre- and postinteraction questionnaires to compare the social acceptance level of loosely synchronized head gaze-speech against tightly synchronized head gaze-speech (manual annotation) and no head gaze-speech conditions. The results indicated that for attributes of Self-Assessment Manikin, i.e., Arousal, Robot Likeability, Human-Like Behavior, Understanding Robot Behavior, Gaze-Speech Synchronization, Looking at Objects at Appropriate Times, and Natural Movement, the loosely synchronized head gaze-speech is similar to tightly synchronized head gaze-speech and preferred to the no head gaze-speech case. This study contributes to a fundamental understanding of the role of social head gaze in social acceptance for human-machine interaction, how social gaze can be produced, and promotes practical implementation in social robots.
Keywords: Angemessen(heit) (von Technik), Autonomous generation, autonomous head gaze synchronization, Evaluation, human robot interactions, Human-Machine Interaction, human-robot interaction, Human–robot interaction, ieee xplore, interactive conversation, interactive systems, loosely synchronized head gaze-speech acts, real-time synthetic speech, Real-time systems, rescue robots, Robot kinematics, self-assessment manikin, social head gaze, social robots, speech, Survivor Buddy rescue robot, synchronisation, Synchronization, tightly synchronized head gaze-speech, User study, victim management scenario 2013
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(2013) : What you do is who you are: The role of task context in perceived social robot personality: 2013 IEEE International Conference on Robotics and Automation: Karlsruhe, Germany: IEEE, S. 2134-2139
DOI: https://doi.org/10.1109/ICRA.2013.6630863 Abstract: People tend to unconsciously attribute personality traits to all kinds of technology including robots. But what personality do they want robots to have? Previous research has found support for two contradicting theories: similarity attraction and complementary attraction. The similarity attraction theory implies that people prefer a robot with a similar personality to their own (e.g., an extroverted person prefers an extroverted robot). According to the complementary attraction theory, people prefer a robot’s personality opposite to their own (e.g., extroverted people prefer an introverted robot). In contrast to both theories, we argue that what is considered an appropriate personality for a robot depends on the task context. In a 2×2 between-groups experiment (N=45), we found trends that indicated similarity attraction for extrovert participants when the robot was a tour guide and complementary attraction for introverted participants when the robot was a cleaner. These trends show that preferences for robot personalities may indeed depend on the context of the robot’s role and the stereotype perceptions people hold for certain jobs. Robot behaviors likely need to be adapted not in complimentary or similarity to the users’ personality but to the users’ expectations about what kind of personality and behaviors are consistent with such a task or role.
Keywords: Angemessen(heit) (von Technik), Artificial intelligence, Atmospheric measurements, Cleaning, complementary attraction theory, Context, Humanoid Robots, ieee xplore, Painting, Particle measurements, robot behavior, Robots, similarity attraction theory, social robot personality, speech, Task context 2012
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(2012): The Intelligibility in Context Scale. Validity and Reliability of a Subjective Rating Measure. In: Journal of Speech Language and Hearing Research 55 (2). DOI: 10.1044/1092-4388(2011/10-0130)
Abstract: Purpose: To describe a new measure of functional intelligibility, the Intelligibility in Context Scale (ICS), and evaluate its validity, reliability, and sensitivity using 3 clinical measures of severity of speech sound disorder: (a) percentage of phonemes correct (PPC), (b) percentage of consonants correct (PCC), and (c) percentage of vowels correct (PVC). Method: Speech skills of 120 preschool children (109 with parent-/teacher-identified concern about how they talked and made speech sounds and 11 with no identified concern) were assessed with the Diagnostic Evaluation of Articulation and Phonology (Dodd, Hua, Crosbie, Holm, & Ozanne, 2002). Parents completed the 7-item ICS, which rates the degree to which children's speech is understood by different communication partners (parents, immediate family, extended family, friends, acquaintances, teachers, and strangers) on a 5-point scale. Results: Parents' ratings showed that most children were always (5) or usually (4) understood by parents, immediate family, and teachers, but only sometimes (3) by strangers. Factor analysis confirmed the internal consistency of the ICS items; therefore, ratings were averaged to form an overall intelligibility score. The ICS had high internal reliability (alpha=.93), sensitivity, and construct validity. Criterion validity was established through significant correlations between the ICS and PPC (r=.54),PCC (r=.54), and PVC (r=.36). Conclusions: The ICS is a promising new measure of functional intelligibility. These data provide initial support for the ICS as an easily administered, valid, and reliable estimate of preschool children's intelligibility when speaking with people of varying levels of familiarity and authority.
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(2012) : Children’s adaptation in multi-session interaction with a humanoid robot: 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication: Paris, France: IEEE, S. 351-357
DOI: https://doi.org/10.1109/ROMAN.2012.6343778 Abstract: This work presents preliminary observations from a study of children (N=19, age 5-12) interacting in multiple sessions with a humanoid robot in a scenario involving game activities. The main purpose of the study was to see how their perception of the robot, their engagement, and their enjoyment of the robot as a companion evolve across multiple interactions, separated by one-two weeks. However, an interesting phenomenon was observed during the experiment: most of the children soon adapted to the behaviors of the robot, in terms of speech timing, speed and tone, verbal input formulation, nodding, gestures, etc. We describe the experimental setup and the system, and our observations and preliminary analysis results, which open interesting questions for further research.
Keywords: children adaptation, game activities, Game Theory, Games, Gestures, Humanoid Robot, Humanoid Robots, human-robot interaction, Humans, ieee xplore, Künstliche Intelligenz, medical robotics, multisession interaction, nodding, speech, speech timing, speed-and-tone, Syntactics, timing, verbal input formulation 2011
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(2011) : A novel real-time emotion detection system from audio streams based on Bayesian Quadratic Discriminate Classifier for ADAS: Proceedings of the Joint INDS’11 ISTET’11: Klagenfurt, Austria: IEEE, S. 1-5
DOI: https://doi.org/10.1109/INDS.2011.6024783 Abstract: This paper presents a real-time emotion recognition concept of voice streams. A comprehensive solution based on Bayesian Quadratic Discriminate Classifier(QDC) is developed. The developed system supports Advanced Driver Assistance Systems (ADAS) to detect the mood of the driver based on the fact that aggressive behavior on road leads to traffic accidents. We use only 12 features to classify between 5 different classes of emotions. We illustrate that the extracted emotion features are highly overlapped and how each emotion class is effecting the recognition ratio. Finally, we show that the Bayesian Quadratic Discriminate Classifier is an appropriate solution for emotion detection systems, where a real-time detection is deeply needed with a low number of features.
Keywords: ADAS, Advanced driver assistance systems, Angemessen(heit) (von Technik), audio signal processing, audio streaming, audio streams, Bayes methods, Bayesian methods, Bayesian quadratic discriminate classifier, driver information systems, emotion feature extraction, emotion recognition, Feature extraction, ieee xplore, real-time emotion detection system, real-time emotion recognition concept, road accidents, speech, speech recognition, Support vector machines, traffic accidents, Vehicles, voice streams 2008
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(2008): Private emotions versus social interaction. A data-driven approach towards analysing emotion in speech. In: User Modeling and User-Adapted Interaction 18 (1-2), S. 175-206. DOI: 10.1007/s11257-007-9039-4
Abstract: The 'traditional' first two dimensions in emotion research are VALENCE and AROUSAL. Normally, they are obtained by using elicited, acted data. In this paper, we use realistic, spontaneous speech data from our 'AIBO' corpus (human-robot communication, children interacting with Sony's AIBO robot). The recordings were done in a Wizard-of-Oz scenario: the children believed that AIBO obeys their commands; in fact, AIBO followed a fixed script and often disobeyed. Five labellers annotated each word as belonging to one of eleven emotion-related states; seven of these states which occurred frequently enough are dealt with in this paper. The confusion matrices of these labels were used in a Non-Metrical Multi-dimensional Scaling to display two dimensions; the first we interpret as VALENCE, the second, however, not as AROUSAL but as INTERACTION, i.e., addressing oneself (angry, joyful) or the communication partner (motherese, reprimanding). We show that it depends on the specifity of the scenario and on the subjects' conceptualizations whether this new dimension can be observed, and discuss impacts on the practice of labelling and processing emotional data. Two-dimensional solutions based on acoustic and linguistic features that were used for automatic classification of these emotional states are interpreted along the same lines.
Keywords: AIBO, annotation, Arousal, categories, Communication, data-driven, deutsche Community, dimensions, emotion, emotion research, Emotionserkennung, Emotionssensitive Systeme, Interaction, Interaktionspartner, Kognitionswissenschaft/Social Sciences/Humanities, Kommunikation, Mensch oder Maschine, Mensch-Technik-Relationen (MTR), non-metrical multi-dimensional scaling, Psychologie, Rolle von Emotion, Realtechnik, script, Soziosensitive Systeme, speech, Technik, Valence 2007
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(2007) : Natural person-following behavior for social robots: 2007 2nd ACM/IEEE International Conference on Human-Robot Interaction (HRI): New York, NY, US: Association for Computing Machinery, S. 17-24
DOI: https://doi.org/10.1145/1228716.1228720 Abstract: We are developing robots with socially appropriate spatial skills not only to travel around or near people, but also to accompany people side-by-side. As a step toward this goal, we are investigating the social perceptions of a robot’s movement as it follows behind a person. This paper discusses our laser-based person-tracking method and two different approaches to person-following: direction-following and path-following. While both algorithms have similar characteristics in terms of tracking performance and following distances, participants in a pilot study rated the direction-following behavior as significantly more human-like and natural than the path-following behavior. We argue that the path-following method may still be more appropriate in some situations, and we propose that the ideal person-following behavior may be a hybrid approach, with the robot automatically selecting which method to use.
Keywords: Abstracts, Angemessen(heit) (von Technik), direction-following method, Hardware, human-robot interaction, ieee xplore, laser-based person-tracking method, Lasers, Mobile robots, natural person-following behavior, path-following method, person following, person tracking, person-following method, position control, Reliability, Robots, social robots, social sciences, spatial skills, speech 2006
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(2006) : Could next generation androids get emotionally close? ‘Relational closeness’ from human dyadic interactions: ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication: ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human: Hatfield, UK: IEEE, S. 475-479
DOI: https://doi.org/10.1109/ROMAN.2006.314373 Abstract: Studies of human-human interactions indicate that the relational dimensions encoded nonverbally between people include intimacy/involvement, status/control, and emotional valence. In assessing nonverbal behavior a key issue concerns the correct level or unit of behavior to code. Low-level codes, such as head nods, eyebrow flashes, and smiles, are concrete enough to be specified objectively. However, a coding scheme based on them may not match the phenomenology of lay people’s experiences of natural interactions. A high-level code, such as values intimacy, reliably distinguishes secure and insecure attachment styles but is underspecified at the concrete, bodily level. This paper considers what level of behavior codes may realistically be mapped onto next generation androids. New ’mid-level’ behavior codes are offered based on an experimental study of relational closeness in human dyadic interactions. These provide act specifications for a possible benchmark of relational closeness. The appropriateness of certain relational behaviors by androids is considered.
Keywords: Angemessen(heit) (von Technik), behavior codes, behavioural sciences, Biological system modeling, coding scheme, Concrete, Displays, emotional valence, Eyebrows, Human Computer Interaction, human dyadic interactions, Human Factors, Human robot interaction, human-human interactions, Humanoid Robots, ieee xplore, insecure attachment styles, next generation androids, Nonverbal behavior, Phenomenology, Prototypes, relational closeness, service robot, speech, values intimacy, Waste management 2004
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(2004) : Working collaboratively with humanoid robots: 2004 4th IEEE/RAS International Conference on Humanoid Robots, 2004: 10-12 Nov. 2004, [Santa Monica, CA ; proceedings]: 2004 4th IEEE/RAS International Conference on Humanoid Robots: Santa Monica, CA, USA: 10-12 Nov. 2004. International Conference on Humanoid Robots; IEEE/RAS International Conference on Humanoid Robots: Piscataway, NJ: IEEE Operations Center, S. 253-272
Abstract: This paper presents an overview of our work towards building humanoid robots that can work alongside people as cooperative teammates. We present our theoretical framework based on a novel combination of joint intention theory and collaborative discourse theory, and demonstrate how it can be applied to allow a human to work cooperatively with a humanoid robot on a joint task using speech, gesture, and expressive cues. Such issues must be addressed to enable many new and exciting applications for humanoid robots that require them to assist ordinary people in daily activities or to work as capable members of human-robot teams.
Keywords: Alltag, collaborative discourse theory, Collaborative work, cooperative teammates, Human robot interaction, Humanoid Robots, ieee xplore, intelligent robots, joint intention theory, man-machine systems, Mensch-Roboter-Interaktion, Orbital robotics, Robot kinematics, Robot sensing systems, Robotic assembly, speech, Teamwork -
(2004): Psychology. Is language the key to human intelligence?. In: Science (New York, N.Y.) 303 (5656), S. 318-320. DOI: 10.1126/science.1093993
1998
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(1998): Computer-assisted conversation for nonvocal people using prestored texts. In: IEEE Transactions on Systems, Man and Cybernetics, Part C (Applications and Reviews) 28 (3), S. 318-328. DOI: 10.1109/5326.704557
DOI: https://doi.org/10.1109/5326.704557 Abstract: The challenges faced by people who are severely physically impaired and nonspeaking are demonstrated by the fact that, even with current technology, the word rates that they can achieve using current communication systems tend to range from two to ten words per min. We have been investigating ways in which prestored reusable texts might assist in improving the performance of such systems. Beginning with a study of the acceptability and effects of including prestored texts in a conversation, this investigation examined a series of methods of increasing complexity that had the system itself perform some of the cognitive and manipulative tasks required to locate suitable texts for a user to include in conversation. These methods have included logging conversational paths for potential reuse in future interactions, using a hypertext structure for storing and navigating through conversational texts, employing fuzzy information retrieval, and building a system based on scripts, plans, and goals. Seeing the possible conversation modes as occurring at varying levels of novelty, from predictable routines through reusable texts to uniquely created utterances, the most likely area for significant improvement then is in the storage and retrieval of large amounts of reusable text. Research needs to discover ways of making the retrieval process as effortless and efficient as possible to free the user to concentrate on the interaction itself.
Keywords: Alltag, Buildings, computer assisted conversation, conversation modes, conversational paths, conversational texts, future interactions, fuzzy information retrieval, Fuzzy systems, handicapped aids, Human Factors, Humans, hypertext structure, ieee xplore, Information retrieval, INSPEC: Controlled Indexing, interactive systems, Interaktionsforschung, manipulative tasks, Navigation, nonvocal people, physically impaired, Physics computing, Portable computers, potential reuse, Power engineering computing, prestored reusable texts, prestored texts, retrieval process, reusable texts, speech, Switches, uniquely created utterances, user interfaces, word processing, word rates
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