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Towards an Integrative Framework for Robot Personality Research 构建机器人人格研究的综合框架
IF 5.1 Q2 ROBOTICS Pub Date : 2024-01-10 DOI: 10.1145/3640010
Anna Dobrosovestnova, Tim Reinboth, Astrid Weiss
Within human-robot interaction (HRI), research on robot personality has largely drawn on trait theories and models, such as the Big Five and OCEAN. We argue that reliance on trait models in HRI has led to a limited understanding of robot personality as a question of stable traits that can be designed into a robot plus how humans with certain traits respond to particular robots. However, trait-based approaches exist alongside other ways of understanding personality including approaches focusing on more dynamic constructs such as adaptations and narratives. We suggest that a deep understanding of robot personality is only possible through a cross-disciplinary effort to integrate these different approaches. We propose an Integrative Framework for Robot Personality Research (IF), wherein robot personality is defined not as a property of the robot, nor of the human perceiving the robot, but as a complex assemblage of components at the intersection of robot design and human factors. With the IF, we aim to establish a common theoretical grounding for robot personality research that incorporates personality constructs beyond traits and treats these constructs as complementary and fundamentally interdependent.
在人机交互(HRI)领域,有关机器人个性的研究主要借鉴了特质理论和模型,如 "五大特质 "和 "OCEAN"。我们认为,在人机交互领域,对特质模型的依赖导致了对机器人个性的有限理解,即机器人是否具有稳定的特质,以及具有特定特质的人类如何对特定机器人做出反应。然而,基于特质的方法与其他理解个性的方法并存,其中包括关注适应性和叙事等更具动态性的结构的方法。我们认为,只有通过跨学科的努力来整合这些不同的方法,才有可能深入理解机器人的个性。我们提出了 "机器人个性研究综合框架"(IF),其中机器人个性既不是机器人的属性,也不是人类感知机器人的属性,而是机器人设计和人类因素交叉点上的复杂组合。通过 IF,我们旨在为机器人个性研究建立一个共同的理论基础,将个性构造纳入特质之外,并将这些构造视为互补的、从根本上相互依存的。
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引用次数: 0
Effortless Polite Telepresence using Intention Recognition 利用意图识别技术轻松实现礼貌网真
IF 5.1 Q2 ROBOTICS Pub Date : 2023-12-13 DOI: 10.1145/3636433
Morteza Daneshmand, Jani Even, Takayuki Kanda
Telepresence technology creates the opportunity for people that were traditionally left out of the workforce to work remotely. In the service industry, a pool of novice remote workers could teleoperate robots to perform short work stints to fill in the gaps left by the dwindling workforce. A hurdle is that consistently talking appropriately and politely imposes a severe mental burden on such novice operators and the quality of the service may suffer. In this study, we propose a teleoperation support system that lets novice remote workers talk freely without considering appropriateness and politeness while maintaining the quality of the service. The proposed system exploits intent recognition to transform casual utterances into predefined appropriate and polite utterances. We conducted a within subject user study where 23 participants played the role of novice remote operators controlling a guardsman robot in charge of monitoring customers’ behaviors. We measured the workload with and without using the proposed support system using NASA task load index questionnaires. The workload was significantly lower (p <.001) when using the proposed support system (M = 46.07, SD = 14.36) than when not using it (M = 62.74, SD = 12.70). The effect size was large (Cohen’s d = 1.23).
网真技术为传统上被排除在劳动力队伍之外的人员创造了远程工作的机会。在服务行业,一批远程新手可以通过远程操作机器人来完成短期工作,以填补劳动力减少带来的空缺。一个障碍是,始终保持适当和礼貌的交谈方式会给这些新手操作员带来严重的心理负担,服务质量可能会受到影响。在本研究中,我们提出了一种远程操作支持系统,让远程操作新手在不考虑适当性和礼貌性的情况下自由交谈,同时保持服务质量。所提议的系统利用意图识别将随意的话语转换为预定义的适当和礼貌的话语。我们进行了一项用户研究,让 23 名参与者扮演远程操作员新手,控制一个负责监控客户行为的警卫机器人。我们使用 NASA 任务负荷指数问卷,测量了使用和未使用拟议支持系统时的工作量。使用建议的支持系统时,工作量(M = 46.07,SD = 14.36)明显低于未使用时(M = 62.74,SD = 12.70)(p <.001)。效应大小较大(Cohen's d = 1.23)。
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引用次数: 0
Introduction to the Special Issue on Sound in Human-Robot Interaction 人机交互中的声音》特刊简介
IF 5.1 Q2 ROBOTICS Pub Date : 2023-12-13 DOI: 10.1145/3632185
F. Robinson, Hannah R. M. Pelikan, Katsumi Watanabe, Luisa Damiano, Oliver Bown, Mari Velonaki
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引用次数: 0
Variable Autonomy Through Responsible Robotics: Design Guidelines and Research Agenda 通过负责任的机器人技术实现可变自主:设计指南和研究议程
IF 5.1 Q2 ROBOTICS Pub Date : 2023-12-07 DOI: 10.1145/3636432
T. Reinmund, P. Salvini, Lars Kunze, Marina Jirotka, A. Winfield
Physically embodied artificial agents, or robots, are being incorporated into various practical and social contexts, from self-driving cars for personal transportation to assistive robotics in social care. To enable these systems to better perform under changing conditions, designers have proposed to endow robots with varying degrees of autonomous capabilities and the capacity to move between them – an approach known as variable autonomy. Researchers are beginning to understand how robots with fixed autonomous capabilities influence a person’s sense of autonomy, social relations, and, as a result, notions of responsibility; however, addressing these topics in scenarios where robot autonomy dynamically changes is underexplored. To establish a research agenda for variable autonomy that emphasises the responsible design and use of robotics, we conduct a developmental review. Based on a sample of 42 papers, we provide a synthesised definition of variable autonomy to connect currently disjointed research efforts, detail research approaches in variable autonomy to strengthen the empirical basis for subsequent work, characterise the dimensions of variable autonomy, and present design guidelines for variable autonomy research based on responsible robotics.
从用于个人交通的自动驾驶汽车到用于社会护理的辅助机器人,物理实体人工代理或机器人正在被纳入各种实际和社会环境。为了使这些系统在不断变化的条件下更好地发挥作用,设计师们提议赋予机器人不同程度的自主能力,以及在它们之间移动的能力——这种方法被称为可变自主。研究人员开始了解具有固定自主能力的机器人是如何影响人的自主意识、社会关系以及责任观念的;然而,在机器人自主性动态变化的情况下解决这些问题还没有得到充分的探索。为了建立一个强调负责任的机器人设计和使用的可变自主性的研究议程,我们进行了一项发展审查。基于42篇论文的样本,我们提供了变量自主的综合定义,以连接当前脱节的研究工作,详细介绍了变量自主的研究方法,以加强后续工作的经验基础,表征了变量自主的维度,并提出了基于负责任机器人的变量自主研究的设计指南。
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引用次数: 0
The Power of Robot-mediated Play: Forming Friendships and Expressing Identity. 机器人媒介游戏的力量:建立友谊和表达身份。
IF 4.2 Q2 ROBOTICS Pub Date : 2023-12-01 Epub Date: 2023-09-28 DOI: 10.1145/3611656
Verónica Ahumada-Newhart, Margaret Schneider, Laurel D Riek

Tele-operated collaborative robots are used by many children for academic learning. However, as child-directed play is important for social-emotional learning, it is also important to understand how robots can facilitate play. In this article, we present findings from an analysis of a national, multi-year case study, where we explore how 53 children in grades K-12 (n = 53) used robots for self-directed play activities. The contributions of this article are as follows. First, we present empirical data on novel play scenarios that remote children created using their tele-operated robots. These play scenarios emerged in five categories of play: physical, verbal, visual, extracurricular, and wished-for play. Second, we identify two unique themes that emerged from the data-robot-mediated play as a foundational support of general friendships and as a foundational support of self-expression and identity. Third, our work found that robot-mediated play provided benefits similar to in-person play. Findings from our work will inform novel robot and HRI design for tele-operated and social robots that facilitate self-directed play. Findings will also inform future interdisciplinary studies on robot-mediated play.

远程操作的协作机器人被许多儿童用于学术学习。然而,由于儿童主导的游戏对社会情感学习很重要,了解机器人如何促进游戏也很重要。在这篇文章中,我们介绍了一项全国性的多年案例研究的分析结果,在该研究中,我们探讨了53名K-12年级的儿童(n=53)如何使用机器人进行自主游戏活动。本文的贡献如下。首先,我们提供了远程儿童使用遥控机器人创造的新颖游戏场景的经验数据。这些游戏场景分为五类:身体游戏、言语游戏、视觉游戏、课外游戏和希望游戏。其次,我们确定了数据机器人中介游戏中出现的两个独特主题,这两个主题是对一般友谊的基本支持,也是对自我表达和身份的基本支持。第三,我们的工作发现,机器人调解的游戏提供了类似于面对面游戏的好处。我们的研究结果将为远程操作和社交机器人的新型机器人和HRI设计提供信息,以促进自主游戏。研究结果还将为未来关于机器人中介游戏的跨学科研究提供信息。
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引用次数: 0
Brain-Behavior Relationships of Trust in Shared Space Human-Robot Collaboration 共享空间人机协作中信任的脑-行为关系
Q2 ROBOTICS Pub Date : 2023-11-10 DOI: 10.1145/3632149
Sarah K. Hopko, Yinsu Zhang, Aakash Yadav, Prabhakar R. Pagilla, Ranjana K. Mehta
Trust in human-robot collaboration is an essential consideration that relates to operator performance, utilization, and experience. While trust’s importance is understood, the state-of-the-art methods to study trust in automation, like surveys, drastically limit the types of insights that can be made. Improvements in measuring techniques can provide a granular understanding of influencers like robot reliability and their subsequent impact on human behavior and experience. This investigation quantifies the brain-behavior relationships associated with trust manipulation in shared space human-robot collaboration (HRC) to advance the scope of metrics to study trust. Thirty-eight participants, balanced by sex, were recruited to perform an assembly task with a collaborative robot under reliable and unreliable robot conditions. Brain imaging, psychological and behavioral eye-tracking, quantitative and qualitative performance, and subjective experiences were monitored. Results from this investigation identify specific information processing and cognitive strategies that result in identified trust-related behaviors, that were found to be sex-specific. The use of covert measurements of trust can reveal insights that humans cannot consciously report, thus shedding light on processes systematically overlooked by subjective measures. Our findings connect a trust influencer (robot reliability) to upstream cognition and downstream human behavior and are enabled by the utilization of granular metrics.
人机协作中的信任关系到操作者的性能、利用率和经验,是一个重要的考虑因素。虽然信任的重要性是众所周知的,但研究自动化中的信任的最先进的方法,如调查,极大地限制了可以获得的见解的类型。测量技术的改进可以让我们更细致地了解机器人可靠性等影响因素及其对人类行为和经验的后续影响。本研究量化了共享空间人机协作(HRC)中与信任操纵相关的脑-行为关系,以扩大研究信任的指标范围。38名参与者,按性别平衡,被招募在可靠和不可靠的机器人条件下与协作机器人一起执行组装任务。脑成像、心理和行为眼动追踪、定量和定性表现以及主观体验均被监测。这项调查的结果确定了导致确定的信任相关行为的特定信息处理和认知策略,这些行为被发现是性别特异性的。使用隐蔽的信任测量可以揭示人类无法有意识地报告的见解,从而揭示被主观测量系统地忽视的过程。我们的研究结果将信任影响者(机器人可靠性)与上游认知和下游人类行为联系起来,并通过使用粒度指标实现。
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引用次数: 0
Which Voice for which Robot? Designing Robot Voices that Indicate Robot Size 哪种声音适合哪个机器人?设计指示机器人大小的机器人声音
Q2 ROBOTICS Pub Date : 2023-11-08 DOI: 10.1145/3632124
Kerstin Fischer, Oliver Niebuhr
Many social robots will have the capacity to interact via speech in the future, and thus they will have to have a voice. However, so far it is unclear how we can create voices that fit their robotic speakers. In this paper, we explore how robot voices can be designed to fit the size of the respective robot. We therefore investigate the acoustic correlates of human voices and body size. In Study I, we analyzed 163 speech samples in connection with their speakers’ body size and body height. Our results show that specific acoustic parameters are significantly associated with body height, and to a lesser degree to body weight, but that different features are relevant for female and male voices. In Study II, we tested then for female and male voices to what extent the acoustic features identified can be used to create voices that are reliably associated with the size of robots. The results show that the acoustic features identified provide reliable clues to whether a large or a small robot is speaking.
未来,许多社交机器人将具备通过语音进行互动的能力,因此它们必须有声音。然而,到目前为止,我们还不清楚如何创造适合机器人扬声器的声音。在本文中,我们探讨了如何设计机器人声音以适应各自机器人的大小。因此,我们研究了人类声音和体型的声学相关性。在研究一中,我们分析了163个语音样本与说话人的体型和身高的关系。我们的研究结果表明,特定的声学参数与身高显著相关,与体重的关系较小,但女性和男性的声音有不同的特征。在研究II中,我们测试了女性和男性的声音,在多大程度上识别出的声学特征可以用来创建与机器人大小可靠相关的声音。结果表明,识别出的声学特征为判断机器人说话是大还是小提供了可靠的线索。
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引用次数: 0
Assistance in Teleoperation of Redundant Robots through Predictive Joint Maneuvering 基于预测关节机动的冗余机器人遥操作辅助
Q2 ROBOTICS Pub Date : 2023-11-03 DOI: 10.1145/3630265
Connor Brooks, Wyatt Rees, Daniel Szafir
In teleoperation of redundant robotic manipulators, translating an operator’s end effector motion command to joint space can be a tool for maintaining feasible and precise robot motion. Through optimizing redundancy resolution, the control system can ensure the end effector maintains maneuverability by avoiding joint limits and kinematic singularities. In autonomous motion planning, this optimization can be done over an entire trajectory to improve performance over local optimization. However, teleoperation involves a human-in-the-loop who determines the trajectory to be executed through a dynamic sequence of motion commands. We present two systems, PrediKCT and PrediKCS, for utilizing a predictive model of operator commands in order to accomplish this redundancy resolution in a manner that considers future expected motion during teleoperation. Using a probabilistic model of operator commands allows optimization over an expected trajectory of future motion rather than consideration of local motion alone. Evaluation through a user study demonstrates improved control outcomes from this predictive redundancy resolution over minimum joint velocity solutions and inverse kinematics-based motion controllers.
在冗余机器人遥操作中,将操作者的末端执行器运动指令转换到关节空间是保持机器人运动可行和精确的一种工具。控制系统通过优化冗余分辨率,避免了关节极限和运动奇异性,保证了末端执行器保持可操作性。在自主运动规划中,这种优化可以在整个轨迹上进行,以提高局部优化的性能。然而,远程操作涉及到一个人在环谁决定轨迹要执行通过一个动态序列的运动命令。我们提出了两个系统,predickct和PrediKCS,用于利用操作员命令的预测模型,以便以考虑远程操作过程中未来预期运动的方式完成这种冗余解决方案。使用操作员命令的概率模型允许对未来运动的预期轨迹进行优化,而不是单独考虑局部运动。通过用户研究的评估表明,与最小关节速度解和基于逆运动学的运动控制器相比,这种预测冗余分辨率改善了控制效果。
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引用次数: 0
Robots’ “Woohoo” and “Argh” can Enhance Users’ Emotional and Social Perceptions: An Exploratory Study on Non-Lexical Vocalizations and Non-Linguistic Sounds 机器人的“Woohoo”和“Argh”可以增强用户的情感感知和社会感知——非词汇发声和非语言发声的探索性研究
Q2 ROBOTICS Pub Date : 2023-10-17 DOI: 10.1145/3626185
Xiaozhen Liu, Jiayuan Dong, Myounghoon Jeon
As robots have become more pervasive in our everyday life, social aspects of robots have attracted researchers’ attention. Because emotions play a crucial role in social interactions, research has been conducted on conveying emotions via speech. Our study sought to investigate the synchronization of multimodal interaction in human-robot interaction (HRI). We conducted a within-subjects exploratory study with 40 participants to investigate the effects of non-speech sounds (natural voice, synthesized voice, musical sound, and no sound) and basic emotions (anger, fear, happiness, sadness, and surprise) on user perception with emotional body gestures of an anthropomorphic robot (Pepper). While listening to a fairytale with the participant, a humanoid robot responded to the story with a recorded emotional non-speech sounds and gestures. Participants showed significantly higher emotion recognition accuracy from the natural voice than from other sounds. The confusion matrix showed that happiness and sadness had the highest emotion recognition accuracy, which is in line with previous research. The natural voice also induced higher trust, naturalness, and preference, compared to other sounds. Interestingly, the musical sound mostly showed lower perception ratings, even compared to the no sound. Results are discussed with design guidelines for emotional cues from social robots and future research directions.
随着机器人在我们的日常生活中变得越来越普遍,机器人的社交方面引起了研究人员的注意。由于情绪在社会交往中起着至关重要的作用,人们对通过言语传递情绪进行了研究。本研究旨在探讨人机交互(HRI)中多模态交互的同步性。我们对40名参与者进行了一项受试者内探索性研究,以调查非言语声音(自然声音、合成声音、音乐声和无声)和基本情绪(愤怒、恐惧、快乐、悲伤和惊讶)对拟人机器人(Pepper)情感肢体动作对用户感知的影响。在与参与者一起听童话故事的同时,一个人形机器人用记录下来的非言语的情感声音和手势来回应故事。参与者对自然声音的情绪识别准确率明显高于其他声音。混淆矩阵显示,快乐和悲伤的情绪识别准确率最高,这与前人的研究结果一致。与其他声音相比,自然的声音也会引起更高的信任、自然和偏好。有趣的是,即使与没有声音的声音相比,音乐声音也大多表现出较低的感知评分。讨论了社交机器人情感线索的设计准则和未来的研究方向。
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引用次数: 0
Experimental Assessment of Human-Robot Teaming for Multi-Step Remote Manipulation with Expert Operators 专家操作下多步远程操作人机组队的实验评估
Q2 ROBOTICS Pub Date : 2023-10-17 DOI: 10.1145/3618258
Claudia Pérez-D'Arpino, Rebecca P. Khurshid, Julie A. Shah
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level cognition and dexterity (e.g. robotic surgery and manufacturing). These systems typically use direct teleoperation at the motion level, and are usually limited to low-DOF arms and 2D perception. Improving dexterity and situational awareness demands new interaction and planning workflows. We explore the use of human-robot teaming through teleautonomy with assisted planning for remote control of a dual-arm dexterous robot for multi-step manipulation, and conduct a within-subjects experimental assessment (n=12 expert users) to compare it with direct teleoperation with an imitation controller with 2D and 3D perception, as well as teleoperation through a teleautonomy interface. The proposed assisted planning approach achieves task times comparable with direct teleoperation while improving other objective and subjective metrics, including re-grasps, collisions, and TLX workload. Assisted planning in the teleautonomy interface achieves faster task execution, and removes a significant interaction with the operator’s expertise level, resulting in a performance equalizer across users. Our study protocol, metrics and models for statistical analysis might also serve as a general benchmarking framework in teleoperation domains. Accompanying video and reference R code: https://people.csail.mit.edu/cdarpino/THRIteleop/
具有人类控制的远程机器人操作使安全和环境限制对人类不利的应用(例如水下,空间机器人和灾难响应)或任务的复杂性需要人类水平的认知和灵活性(例如机器人手术和制造)。这些系统通常在运动水平上使用直接远程操作,并且通常仅限于低自由度臂和2D感知。提高灵活性和态势感知需要新的交互和规划工作流程。我们探索了通过远程自主辅助规划的人机合作,对双臂灵巧机器人进行多步操作的远程控制,并进行了受试者内部实验评估(n=12名专家用户),将其与具有2D和3D感知的模拟控制器的直接远程操作以及通过远程自主界面的远程操作进行了比较。所提出的辅助规划方法实现了与直接遥操作相当的任务时间,同时改善了其他客观和主观指标,包括重新抓取、碰撞和TLX工作量。远程自治界面中的辅助规划实现了更快的任务执行,并消除了与操作员专业水平的重要交互,从而实现了跨用户的性能均衡器。我们的研究方案,统计分析的指标和模型也可以作为远程操作领域的一般基准框架。附带视频和参考R代码:https://people.csail.mit.edu/cdarpino/THRIteleop/
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引用次数: 2
期刊
ACM Transactions on Human-Robot Interaction
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