Human-Robot Trust Assessment Using Top-Down Visual Tracking After Robot Task Execution Mistakes

Kasper Hald, M. Rehm, T. Moeslund
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引用次数: 3

Abstract

With increased interest in close-proximity human-robot collaboration in production settings it is important that we understand how robot behaviors and mistakes affect human-robot trust, as a lack of trust can cause loss in productivity and over-trust can lead to hazardous misuse. We designed a system for real-time human-robot trust assessment using a top-down depth camera tracking setup with the goal of using signs of physical apprehension to infer decreases in trust toward the robot. In an experiment with 20 participants we evaluated the tracking system in a repetitive collaborative pick-and-place task where the participant and the robot had to move a set of cones across a table. Midway through the tasks we disrupted the participants expectations by having the robot perform a trust-dampening action. Throughout the tasks we measured the participant’s preferred proximity and their trust toward the robot. Comparing irregular robot movements versus task execution mistakes as well simultaneous versus turn-taking collaboration, we found reported trust was significantly decreased when the robot performed an execution mistake going counter to the shared objective. This decrease was higher for participant working simultaneously as the robot. The effect of the trust-dampening actions on preferred proximity was inconclusive due to unexplained movement trends between tasks throughout the experiment. Despite being given the option to stop the robot in case of abnormal behavior, the trust-dampening actions did not increase the number of participant disruptions for the actions we tested.
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机器人任务执行错误后基于自上而下视觉跟踪的人机信任评估
随着人们对生产环境中近距离人机协作的兴趣日益浓厚,我们必须了解机器人的行为和错误如何影响人机信任,因为缺乏信任会导致生产力下降,过度信任会导致危险的误用。我们设计了一个实时人机信任评估系统,使用自上而下的深度相机跟踪设置,目标是使用物理恐惧的迹象来推断对机器人的信任减少。在一个有20名参与者的实验中,我们评估了跟踪系统在一个重复的协作拾取和放置任务中的作用,在这个任务中,参与者和机器人必须在桌子上移动一组锥体。在任务进行到一半时,我们让机器人做了一个削弱信任的动作,打乱了参与者的预期。在整个任务过程中,我们测量了参与者对机器人的偏好程度以及他们对机器人的信任程度。将机器人的不规则运动与任务执行错误以及同步与轮流协作进行比较,我们发现,当机器人执行与共同目标相反的执行错误时,报告的信任显着降低。与机器人同时工作的参与者,这种下降幅度更大。信任抑制行为对偏好接近的影响是不确定的,因为在整个实验中,任务之间的运动趋势无法解释。尽管在机器人出现异常行为的情况下,参与者可以选择停止机器人,但抑制信任的行为并没有增加参与者对我们测试的行为的干扰次数。
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