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Probing Aesthetics Strategies for Robot Sound: Complexity and Materiality in Movement Sonification 探索机器人声音的美学策略:运动声音的复杂性与物质性
IF 5.1 Q2 ROBOTICS Pub Date : 2023-03-17 DOI: 10.1145/3585277
A. Latupeirissa, C. Panariello, R. Bresin
This paper presents three studies where we probe aesthetics strategies of sound produced by movement sonification of a Pepper robot by mapping its movements to sound models. We developed two sets of sound models. The first set was made by two sound models, a sawtooth-based one and another based on feedback chains, for investigating how the perception of synthesized robot sounds would depend on their design complexity. We implemented the second set of sound models for probing the “materiality” of sound made by a robot in motion. This set consisted of a sound synthesis based on an engine highlighting the robot’s internal mechanisms, a metallic sound synthesis highlighting the robot’s typical appearance, and a whoosh sound synthesis highlighting the movement. We conducted three studies. The first study explores how the first set of sound models can influence the perception of expressive gestures of a Pepper robot through an online survey. In the second study, we carried out an experiment in a museum installation with a Pepper robot presented in two scenarios: (1) while welcoming patrons into a restaurant and (2) while providing information to visitors in a shopping center. Finally, in the third study, we conducted an online survey with stimuli similar to those used in the second study. Our findings suggest that participants preferred more complex sound models for the sonification of robot movements. Concerning the materiality, participants liked better subtle sounds that blend well with the ambient sound (i.e., less distracting) and soundscapes in which sound sources can be identified. Also, sound preferences varied depending on the context in which participants experienced the robot-generated sounds (e.g., as a live museum installation vs. an online display).
本文提出了三项研究,其中我们通过将胡椒机器人的运动映射到声音模型来探索由运动超声产生的声音的美学策略。我们开发了两套声音模型。第一组是由两个声音模型制作的,一个基于锯齿,另一个基于反馈链,用于研究合成机器人声音的感知如何依赖于它们的设计复杂性。我们实现了第二组声音模型,用于探测机器人在运动中发出的声音的“物质性”。这一套包括一个基于引擎的声音合成,突出了机器人的内部机制,一个金属声合成,突出了机器人的典型外观,以及一个嗖嗖声合成,突出了运动。我们进行了三项研究。第一项研究通过在线调查探讨了第一组声音模型如何影响Pepper机器人对表达手势的感知。在第二项研究中,我们在一个博物馆装置中进行了一个实验,让Pepper机器人在两种场景中呈现:(1)在餐厅欢迎顾客时,(2)在购物中心为游客提供信息时。最后,在第三项研究中,我们使用与第二项研究类似的刺激进行了在线调查。我们的研究结果表明,参与者更喜欢更复杂的声音模型来模拟机器人的运动。在物质性方面,参与者喜欢与环境声音(即较少分散注意力)和声源可以识别的音景相融合的更好的细微声音。此外,声音偏好取决于参与者体验机器人生成声音的环境(例如,作为现场博物馆装置还是在线展示)。
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引用次数: 3
Fielded Human-Robot Interaction for a Heterogeneous Team in the DARPA Subterranean Challenge DARPA地下挑战赛中异质团队的现场人机交互
IF 5.1 Q2 ROBOTICS Pub Date : 2023-03-16 DOI: 10.1145/3588325
Danny G. Riley, E. Frew
Human supervision of multiple fielded robots is a challenging task which requires a thoughtful design and implementation of both the underlying infrastructure and the human interface. It also requires a skilled human able to manage the workload and understand when to trust the autonomy, or manually intervene. We present an end-to-end system for human-robot interaction with a heterogeneous team of robots in complex, communication-limited environments. The system includes the communication infrastructure, autonomy interaction, and human interface elements. Results of the DARPA Subterranean Challenge Final Systems Competition are presented as a case study of the design and analyze the shortcomings of the system.
人类对多个现场机器人的监督是一项具有挑战性的任务,需要对底层基础设施和人机界面进行深思熟虑的设计和实现。它还需要一个熟练的人来管理工作负载,并了解何时信任自治,或手动干预。我们提出了一个端到端的系统,用于在复杂的、通信有限的环境中与异质机器人团队进行人机交互。该系统包括通信基础设施、自主交互和人机界面元素。以DARPA地下挑战赛决赛系统竞赛的结果为例分析了该系统的设计,并分析了该系统的不足。
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引用次数: 0
Affective Robots Need Therapy 情感机器人需要治疗
IF 5.1 Q2 ROBOTICS Pub Date : 2023-03-15 DOI: 10.1145/3543514
Paul Bucci, David Marino, Ivan Beschastnikh
Emotion researchers have begun to converge on the theory that emotions are psychologically and socially constructed. A common assumption in affective robotics is that emotions are categorical brain-body states that can be confidently modeled. But if emotions are constructed, then they are interpretive, ambiguous, and specific to an individual’s unique experience. Constructivist views of emotion pose several challenges to affective robotics: first, it calls into question the validity of attempting to obtain objective measures of emotion through rating scales or biometrics. Second, ambiguous subjective data poses a challenge to computational systems that need structured and definite data to operate. How can a constructivist view of emotion be rectified with these challenges? In this article, we look to psychotherapy for ontological, epistemic, and methodological guidance. These fields (1) already understand emotions to be intrinsically embodied, relative, and metaphorical and (2) have built up substantial knowledge informed by everyday practice. It is our hope that by using interpretive methods inspired by therapeutic approaches, HRI researchers will be able to focus on the practicalities of designing effective embodied emotional interactions.
情绪研究人员已经开始集中于情绪是心理和社会建构的理论。情感机器人的一个普遍假设是,情绪是可以自信地建模的大脑-身体状态的分类。但如果情感是被构建的,那么它们就是可解释的、模棱两可的,并且是特定于个人独特经历的。情感的建构主义观点对情感机器人提出了几个挑战:首先,它对试图通过评分量表或生物识别技术获得客观情感测量的有效性提出了质疑。其次,模糊的主观数据对需要结构化和明确数据来操作的计算系统提出了挑战。如何通过这些挑战来修正建构主义的情绪观呢?在这篇文章中,我们期待心理治疗的本体论,认识论和方法论的指导。这些领域(1)已经理解了情感本质上是具体化的、相对的和隐喻的;(2)通过日常实践积累了大量的知识。我们希望通过使用受治疗方法启发的解释方法,HRI研究人员将能够专注于设计有效的具体化情感互动的实用性。
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引用次数: 0
RoPi
IF 5.1 Q2 ROBOTICS Pub Date : 2023-03-13 DOI: 10.1145/3568294.3580198
Sebastian Caballa, David Lizano, Manuel Aranda, Diego Zegarra
Injury burns are traumatic events, especially for children. The use of combined pharmacological and non-pharmacological strategies in hospitals favor emotional experiences. However, in Latin American hospitals, which have low budgets, it is not possible to hire therapeutic support personnel, such as clowns, due to the lack of available human resources. RoPi is a social robot created to assist hospitalized children's emotional support through its multicolor interchangeable pieces and its interactive functions.
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引用次数: 0
Comparison of Attitudes Towards Robots of Different Population Samples in Norway 挪威不同人口样本对机器人的态度比较
IF 5.1 Q2 ROBOTICS Pub Date : 2023-03-13 DOI: 10.1145/3568294.3580151
Marten Bloch, Alexandra Fernandes
Acceptance of robots is known to be directly influenced by perceptions and attitudes potential users have of them. Particularly, negative attitudes can prevent that the implementations of robots unlock their full potential and ultimately fail if negative attitudes are not addressed. We employed the popular Negative Attitude Towards Robots Scale (NARS) across four different studies to assess how different populations in Norway perceive robots. All four included exposure to at least a robot. However, the setup of each individual study was different from the others. We summarized the results across study and made comparisons between the different samples. We also analyzed the effect of gender and age on attitude towards robots as measured by the NARS. The results indicate that there are significant differences between samples and that females score significantly higher than males, thus having a less favorable opinion of robots and potentially avoiding interaction with them. We touch upon possible explanations and implications of our results and highlight the need for more research into this topic.
众所周知,机器人的接受程度直接受到潜在用户对机器人的看法和态度的影响。特别是,消极的态度可能会阻止机器人发挥其全部潜力,如果不解决消极态度,最终会失败。我们在四项不同的研究中采用了流行的对机器人的消极态度量表(NARS)来评估挪威不同人群对机器人的看法。所有四种实验都至少接触了一个机器人。然而,每项研究的设置都是不同的。我们总结了整个研究的结果,并对不同样本进行了比较。我们还分析了性别和年龄对NARS测量的机器人态度的影响。结果表明,样本之间存在显著差异,女性得分明显高于男性,因此对机器人的看法不太好,并可能避免与机器人互动。我们谈到了可能的解释和我们的结果的含义,并强调需要对这个主题进行更多的研究。
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引用次数: 0
Carla - Making Transport Hubs Accessible 卡拉-使交通枢纽无障碍
IF 5.1 Q2 ROBOTICS Pub Date : 2023-03-13 DOI: 10.1145/3568294.3580204
A. Girish, Suchithra Selladurai, Vidhya Vidhya Sagar Murugan, Viboosithasri N S
Accessibility in transport hubs is indispensable for the upliftment of the social and economic spheres of persons with disabilities. Carla - a smart, autonomous personal assistant is proposed as an affordable solution to impart inclusivity in transport hubs. Carla can serve as a guide to the destination, an information kiosk and a luggage carrier. It is equipped with a rope guide and digital braille to serve people suffering from multi-sensory impairment. Carla can move to a modest push from the user - a novel feature introduced to enhance interaction. The system architecture and algorithm for autonomous navigation are also discussed. Finally, the interaction of Carla in a number of use cases are presented.
交通枢纽的无障碍对于提高残疾人的社会和经济地位是必不可少的。卡拉——一款智能、自主的个人助理,被提议作为一种经济实惠的解决方案,以实现交通枢纽的包容性。卡拉可以充当目的地的向导、信息亭和行李搬运工。它配备了绳导和数字盲文,为患有多种感官障碍的人服务。用户轻轻推一下,卡拉就会移动——这是一项增强交互的新功能。讨论了自主导航的系统结构和算法。最后,介绍了Carla在一些用例中的交互。
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引用次数: 0
Human-Robot Conversational Interaction (HRCI) 人机会话交互(HRCI)
IF 5.1 Q2 ROBOTICS Pub Date : 2023-03-13 DOI: 10.1145/3568294.3579954
Donald Mcmillan, Razan N. Jaber, Benjamin R. Cowan, J. Fischer, Bahar Irfan, Ronald Cumbal, Nima Zargham, Minha Lee
Conversation is one of the primary methods of interaction between humans and robots. It provides a natural way of communication with the robot, thereby reducing the obstacles that can be faced through other interfaces (e.g., text or touch) that may cause difficulties to certain populations, such as the elderly or those with disabilities, promoting inclusivity in Human-Robot Interaction (HRI). Work in HRI has contributed significantly to the design, understanding and evaluation of human-robot conversational interactions. Concurrently, the Conversational User Interfaces (CUI) community has developed with similar aims, though with a wider focus on conversational interactions across a range of devices and platforms. This workshop aims to bring together the CUI and HRI communities through a one-day workshop to outline key shared opportunities and challenges in developing conversational interactions with robots, resulting in collaborative publications targeted at the CUI 2023 provocations track.
对话是人与机器人交互的主要方式之一。它提供了一种与机器人交流的自然方式,从而减少了通过其他界面(例如文本或触摸)可能对某些人群(如老年人或残疾人)造成困难的障碍,从而促进了人机交互(HRI)的包容性。人力资源研究所的工作对人机对话交互的设计、理解和评估做出了重大贡献。与此同时,会话用户界面(CUI)社区也以类似的目标发展起来,尽管它更广泛地关注跨一系列设备和平台的会话交互。本次研讨会旨在通过为期一天的研讨会将CUI和HRI社区聚集在一起,概述在发展与机器人的对话互动方面的关键共同机遇和挑战,从而产生针对CUI 2023挑衅轨道的合作出版物。
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引用次数: 0
SEAN-VR: An Immersive Virtual Reality Experience for Evaluating Social Robot Navigation SEAN-VR:用于评估社交机器人导航的沉浸式虚拟现实体验
IF 5.1 Q2 ROBOTICS Pub Date : 2023-03-13 DOI: 10.1145/3568294.3580039
Qiping Zhang, Nathan Tsoi, Marynel Vázquez
We propose a demonstration of the Social Environment for Autonomous Navigation with Virtual Reality (VR) for advancing research in Human-Robot Interaction. In our demonstration, a user controls a virtual avatar in simulation and performs directed navigation tasks with a mobile robot in a warehouse environment. Our demonstration shows how researchers can leverage the immersive nature of VR to study robot navigation from a user-centered perspective in densely populated environments while avoiding physical safety concerns common with operating robots in the real world. This is important for studying interactions with robots driven by algorithms that are early in their development lifecycle.
我们提出了一个虚拟现实(VR)自主导航的社会环境演示,以推进人机交互的研究。在我们的演示中,用户在模拟中控制虚拟化身,并在仓库环境中使用移动机器人执行定向导航任务。我们的演示展示了研究人员如何利用VR的沉浸式本质,在人口密集的环境中从以用户为中心的角度研究机器人导航,同时避免现实世界中操作机器人常见的物理安全问题。这对于研究与处于开发生命周期早期的算法驱动的机器人的交互非常重要。
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引用次数: 1
Robotic Interventions for Learning (ROB-I-LEARN): Examining Social Robotics for Learning Disabilities through Business Model Canvas 学习的机器人干预(robi - learn):通过商业模型画布检查学习障碍的社交机器人
IF 5.1 Q2 ROBOTICS Pub Date : 2023-03-13 DOI: 10.1145/3568294.3580088
A. Arora, Amit Arora, K. Sivakumar, John R. McIntyre
This ROB-I-LEARN research utilizes a versatile framework (e.g., Business Model Canvas or BMC) for robot design and curriculum development aimed at students diagnosed with autism spectrum disorder (ASD). Robotic interventions / human-robot interaction (HRI) field experiments with high school students were conducted as a recommendation or an outcome of the BMC framework and customer discovery interviews. These curriculum-related robotic interventions / interactive scenarios were designed to improve cognitive rehabilitation targeting students with ASD in high schools, thus enabling a higher quality learning environment that corresponds with students' learning requirements to prepare them for future learning and workforce environments.
这项robi - learn研究利用了一个通用框架(例如,商业模型画布或BMC)来设计机器人和开发针对被诊断为自闭症谱系障碍(ASD)的学生的课程。机器人干预/人机交互(HRI)现场实验与高中生进行作为建议或结果BMC框架和客户发现访谈。这些与课程相关的机器人干预/互动场景旨在改善高中ASD学生的认知康复,从而为学生的学习需求提供更高质量的学习环境,为他们未来的学习和工作环境做好准备。
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引用次数: 0
On Using Social Signals to Enable Flexible Error-Aware HRI 利用社会信号实现灵活的错误感知HRI
IF 5.1 Q2 ROBOTICS Pub Date : 2023-03-13 DOI: 10.1145/3568162.3576990
Maia Stiber, R. Taylor, Chien-Ming Huang
Prior error management techniques often do not possess the versatility to appropriately address robot errors across tasks and scenarios. Their fundamental framework involves explicit, manual error management and implicit domain-specific information driven error management, tailoring their response for specific interaction contexts. We present a framework for approaching error-aware systems by adding implicit social signals as another information channel to create more flexibility in application. To support this notion, we introduce a novel dataset (composed of three data collections) with a focus on understanding natural facial action unit (AU) responses to robot errors during physical-based human-robot interactions---varying across task, error, people, and scenario. Analysis of the dataset reveals that, through the lens of error detection, using AUs as input into error management affords flexibility to the system and has the potential to improve error detection response rate. In addition, we provide an example real-time interactive robot error management system using the error-aware framework.
先前的错误管理技术通常不具备跨任务和场景适当处理机器人错误的通用性。它们的基本框架包括显式的手动错误管理和隐式的特定于领域的信息驱动的错误管理,为特定的交互上下文定制它们的响应。我们提出了一个框架,通过增加隐式社会信号作为另一个信息通道来接近错误感知系统,以创造更大的应用灵活性。为了支持这一概念,我们引入了一个新的数据集(由三个数据集组成),重点是理解基于物理的人机交互过程中对机器人错误的自然面部动作单元(AU)响应——在任务、错误、人员和场景之间变化。对数据集的分析表明,从错误检测的角度来看,使用au作为错误管理的输入为系统提供了灵活性,并有可能提高错误检测响应率。此外,我们还提供了一个使用错误感知框架的实时交互式机器人错误管理系统示例。
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引用次数: 5
期刊
ACM Transactions on Human-Robot Interaction
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