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Touching a mechanical body 触摸机械体
Pub Date : 2017-12-01 DOI: 10.5898/JHRI.6.3.Li
Jamy J. Li, Wendy Ju, Byron Reeves
A large literature describes the use of robots' physical bodies to support communication with people. Touch is a natural channel for physical interaction, yet it is not understood how principles of interpersonal touch might carry over to a robot. Exploring how interpersonal rules surrounding body accessibility and touch apply to a robot is critical toward understanding the extent to which people treat the act of touching body regions as a sign of closeness---even if the body belongs to a robot---and is important to the field of humanoid social robotics. Thirty-one students participated in an interactive anatomy lesson with a small, humanoid robot. Participants either touched or pointed to an anatomical region of the robot in each of 26 trials while their skin conductance response was measured. Touching less accessible regions of a robot's body (e.g., its buttocks and genitals) was more physiologically arousing than touching more accessible regions (e.g., its hands and feet). No differences in physiological arousal were found when just pointing to those same anatomical regions. A social robot elicited tactile responses in human physiology, a result that signals people treat touching body parts as an act of closeness in itself that does not require a human recipient. The power of touching a humanoid body with identifiable body parts should caution mechanical and interaction designers about the positive and negative effects of human-robot interaction.
大量文献描述了利用机器人的身体来支持与人的交流。触摸是身体互动的自然渠道,但人们还不清楚人际触摸的原理是如何传递给机器人的。探索围绕身体可达性和触摸的人际规则如何应用于机器人,对于理解人们在多大程度上将触摸身体区域视为亲密的标志至关重要——即使身体属于机器人——这对人形社交机器人领域也很重要。31名学生用一个小型人形机器人参加了一堂交互式解剖学课。在26项试验中的每一项试验中,参与者都触摸或指着机器人的解剖区域,同时测量他们的皮肤电导反应。触摸机器人身体上不太容易接近的区域(如臀部和生殖器)比触摸更容易接近的部位(如手和脚)更具生理刺激性。当仅仅指向这些相同的解剖区域时,没有发现生理唤醒的差异。社交机器人在人类生理学中引发了触觉反应,这一结果表明人们将触摸身体部位视为一种亲密行为,而不需要人类接受者。用可识别的身体部位触摸人形身体的力量应该提醒机械和交互设计师注意人机交互的积极和消极影响。
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引用次数: 30
Are You Reviewer 2: Three Ideas for Better Reviewing 你是审稿人2:更好的审稿人的三个想法
Pub Date : 2017-12-01 DOI: 10.5898/JHRI.6.3.Feil-Seifer
David Feil-Seifer
Dear colleagues in the HRI community, I have been given the honor and privilege to write the editorial introduction for this final issue of the Journal of Human-Robot Interaction, before its reemergence as the ACM Transactions on Human-Robot Interaction. It has been a distinct pleasure to serve as the JHRI Managing Editor for the last two and a half years. I am grateful to our founding editors, Sara Kiesler and Mike Goodrich, for giving me this opportunity. Working with our current editors, Chad Jenkins and Selma Sabanovic, we have made great steps to continue advancing the journal and its scholarship. All of us are already working hard to produce an outstanding first issue of ACM THRI!
亲爱的HRI社区的同事们,我有幸为《人机交互杂志》的最后一期撰写编辑简介,该杂志将重新成为ACM人机交互汇刊。在过去的两年半里,担任JHRI总编辑是一件非常愉快的事情。我感谢我们的创始编辑Sara Kiesler和Mike Goodrich给了我这个机会。我们与现任编辑Chad Jenkins和Selma Sabanovic合作,为继续推进该杂志及其学术研究迈出了重要步伐。我们所有人都已经在努力制作一本优秀的第一期ACM THRI!
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引用次数: 0
How should a robot approach two people? 机器人应该如何接近两个人?
Pub Date : 2017-12-01 DOI: 10.5898/JHRI.6.3.Ball
Adrian Ball, D. Rye, David Silvera-Tawil, Mari Velonaki
Experiments were conducted to quantify the direction of robot approach that a pair of seated people find most comfortable. Three maximally-different seating configurations and eight directions of robot approach were considered. The data were analysed using Rayleigh's test of uniformity, a directional statistics method. Results from 140 participants showed robot approach directions that minimise participant discomfort align spatially with regions that allow good sight of the robot by both people and are centred on the pair's largest unoccupied area of p-space.
研究人员进行了实验,量化了一对坐着的人觉得最舒服的机器人接近方向。考虑了三种最大不同的座位配置和机器人接近的八个方向。采用瑞利均匀性检验(一种定向统计方法)对数据进行了分析。来自140名参与者的结果表明,机器人接近的方向是最大限度地减少参与者的不适,在空间上与允许两个人都能看到机器人的区域保持一致,并且集中在两人最大的未占用的p空间区域。
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引用次数: 11
Understanding agency in interactions between children with autism and socially assistive robots 了解自闭症儿童与社交辅助机器人互动中的代理
Pub Date : 2017-12-01 DOI: 10.5898/JHRI.6.3.Short
Elaine Schaertl Short, Eric Deng, David Feil-Seifer, M. Matarić
Socially assistive robotics (SAR) has increasingly been shown to have potential as a tool for social skills therapy for children with autism, a developmental disorder associated with atypical social development. This work presents the results of a study of robot agency on child-robot interactions involving children with autism. We describe the development of a SAR interaction scenario with both agent-like and object-like robot behaviors and present the results of a pilot study of six children with autism interacting with a humanoid robot with the full controller, as well as three types of control: a non-humanoid "box" robot with similar behavior (reduced morphological agency), a humanoid robot with random behavior (reduced behavioral agency), and a robotic toy (reduced morphological and behavioral agency). We find that the children can be divided into two groups depending on their reaction to the robot; for some children, the robot was an engaging object that elicited social behavior by providing novel and appealing sensory experiences (primarily bubbleblowing), while for other children, the robot was an agent and elicited social behavior through agentlike actions such as autonomous movement. We found that the first group had small differences between robot conditions and vocalized most with the bubble-blowing toy, while the second group vocalized most with the humanoid robots and looked less at the humanoid portion of the robot with reduced behavioral agency.
社交辅助机器人(SAR)已经越来越多地被证明有潜力作为一种工具来治疗自闭症儿童的社交技能,自闭症是一种与非典型社交发展相关的发育障碍。这项工作提出了一项研究的结果,机器人代理儿童-机器人互动涉及自闭症儿童。我们描述了具有类主体和类物体机器人行为的SAR交互场景的发展,并介绍了六名自闭症儿童与具有完整控制器的类人机器人交互的初步研究结果,以及三种类型的控制:具有相似行为(减少形态代理)的非类人“盒子”机器人,具有随机行为(减少行为代理)的类人机器人和机器人玩具(减少形态和行为代理)。我们发现孩子们可以根据他们对机器人的反应分为两组;对于一些孩子来说,机器人是一个引人入胜的对象,通过提供新颖而吸引人的感官体验(主要是吹泡泡)来引发社会行为,而对于其他孩子来说,机器人是一个代理,通过自主运动等代理行为来引发社会行为。我们发现,第一组机器人条件差异很小,吹泡泡玩具发声最多,而第二组机器人与人形机器人发声最多,看机器人人形部分的次数较少,行为代理减少。
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引用次数: 16
The impact of intergroup bias on trust and approach behaviour towards a humanoid robot 群体间偏见对类人机器人信任和接近行为的影响
Pub Date : 2017-12-01 DOI: 10.5898/JHRI.6.3.Deligianis
Christopher Deligianis, C. Stanton, C. McGarty, C. Stevens
As robots become commonplace, and for successful human-robot interaction to occur, people will need to trust them. Two experiments were conducted using the "minimal group paradigm" to explore whether social identity theory influences trust formation and impressions of a robot. In Experiment 1, participants were allocated to either a "robot" or "computer" group, and then they played a cooperative visual tracking game with an Aldebaran Nao humanoid robot as a partner. We hypothesised participants in the "robot group" would demonstrate intergroup bias by sitting closer to the robot (proxemics) and trusting the robot's suggested answers more frequently than their "computer group" counterparts. Experiment 2 used an almost identical procedure with a different set of participants; however, all participants were assigned to the "robot group" and thee different levels of anthropomorphic robot movement were manipulated. Our results suggest that intergroup bias and humanlike movement can significantly affect human-robot approach behaviour. Significant effects were found for trusting the robot's suggested answers with respect to task difficulty, but not for group membership or robot movement.
随着机器人的普及,以及成功的人机交互,人们将需要信任它们。使用“最小群体范式”进行了两个实验,以探索社会身份理论是否影响机器人的信任形成和印象。在实验1中,参与者被分配到“机器人”或“计算机”组,然后他们与Aldebaran Nao人形机器人作为伙伴进行合作视觉跟踪游戏。我们假设“机器人组”的参与者会表现出组间偏见,因为他们坐得离机器人更近(接近),并且比“计算机组”的同伴更频繁地相信机器人的建议答案。实验2对不同的参与者使用了几乎相同的程序;然而,所有参与者都被分配到“机器人组”,并操纵三个不同级别的拟人化机器人运动。我们的研究结果表明,群体间的偏见和类人运动会显著影响人类-机器人的接近行为。在任务难度方面,信任机器人的建议答案会产生显著影响,但对小组成员或机器人运动没有影响。
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引用次数: 22
Supporting situation awareness through robot-to-human information exchanges under conditions of visuospatial perspective taking 视觉空间透视条件下通过机器人与人的信息交流支持态势感知
Pub Date : 2017-12-01 DOI: 10.5898/JHRI.6.3.Phillips
Elizabeth Phillips, F. Jentsch
The purpose of this study was to test the effects of robot-to-human information exchanges on the development of human situation awareness under differing levels of visuospatial perspective taking and the effect of situation awareness on the quality of human assistance provided to a robot. Fifty-six male participants with ages ranging from 18 to 29 (M = 18.89, SD = 3.41) were included in the analysis of the results. The results showed that if robots can increasingly support a human's understanding of when assistance is needed, they will be better able to provide that assistance. When spatial information was added to robot-to-human information exchanges, representing that spatial information in global-relative reference frames was more beneficial than representing that information in reference to the human's view of the environment.
本研究的目的是测试机器人与人之间的信息交换对不同视觉空间视角下人类情境意识发展的影响,以及情境意识对人类向机器人提供帮助质量的影响。56名年龄在18 - 29岁之间的男性受试者(M = 18.89, SD = 3.41)被纳入结果分析。研究结果表明,如果机器人能够越来越多地帮助人类理解何时需要帮助,它们将能够更好地提供帮助。当空间信息被添加到机器人与人类的信息交换时,在全局相对的参考框架中表示空间信息比参考人类对环境的看法来表示空间信息更有益。
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引用次数: 5
A new UGV teleoperation interface for improved awareness of network connectivity and physical surroundings 一种新的UGV远程操作接口,用于提高对网络连接和物理环境的感知
Pub Date : 2017-10-04 DOI: 10.5898/JHRI.6.3.Parasuraman
Ramviyas Parasuraman, S. Caccamo, Fredrik Båberg, Petter Ögren, Mark Antonius Neerincx
A reliable wireless connection between the operator and the teleoperated unmanned ground vehicle (UGV) is critical in many urban search and rescue (USAR) missions. Unfortunately, as was seen in, for example, the Fukushima nuclear disaster, the networks available in areas where USAR missions take place are often severely limited in range and coverage. Therefore, during mission execution, the operator needs to keep track of not only the physical parts of the mission, such as navigating through an area or searching for victims, but also the variations in network connectivity across the environment. In this paper, we propose and evaluate a new teleoperation user interface (UI) that includes a way of estimating the direction of arrival (DoA) of the radio signal strength (RSS) and integrating the DoA information in the interface. The evaluation shows that using the interface results in more objects found, and less aborted missions due to connectivity problems, as compared to a standard interface. The proposed interface is an extension to an existing interface centered on the video stream captured by the UGV. But instead of just showing the network signal strength in terms of percent and a set of bars, the additional information of DoA is added in terms of a color bar surrounding the video feed. With this information, the operator knows what movement directions are safe, even when moving in regions close to the connectivity threshold.
操作员和遥控无人地面车辆(UGV)之间的可靠无线连接在许多城市搜救(USAR)任务中至关重要。不幸的是,正如福岛核灾难等事件中所看到的那样,美国空军执行任务地区的可用网络在范围和覆盖范围方面往往受到严重限制。因此,在任务执行过程中,操作员不仅需要跟踪任务的物理部分,例如在某个区域导航或搜索受害者,还需要跟踪整个环境中网络连接的变化。在本文中,我们提出并评估了一种新的遥操作用户界面(UI),该界面包括一种估计无线电信号强度(RSS)的到达方向(DoA)并在界面中集成DoA信息的方法。评估表明,与标准接口相比,使用该接口可以找到更多的物体,减少因连接问题而中止的任务。所提出的接口是对以UGV捕获的视频流为中心的现有接口的扩展。但是,DoA的附加信息不是仅以百分比和一组条形图的形式显示网络信号强度,而是以视频馈送周围的彩色条形图的方式添加的。有了这些信息,操作员就知道什么移动方向是安全的,即使在接近连接阈值的区域移动也是如此。
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引用次数: 17
Interactive drama with robots for teaching non-technical subjects 与机器人互动的戏剧,用于教授非技术科目
Pub Date : 2017-09-01 DOI: 10.5898/JHRI.6.2.Bravo
Flor Ángela Bravo Sánchez, Alejandra María González Correal, Enríque González Guerrero
Educational robotics has great potential as a learning tool at all levels, from kindergarten to the university. It provides rich opportunities for collaborative knowledge building and skills acquisition through the manipulation of and interaction with robots. Despite the remarkable progress in this field, the scope and impact of robot-based activities have primarily focused on the teaching of technical school subjects (i.e., computer science, mathematics, and physics). This work proposes to support the learning and teaching of non-technical school subjects through drama-based activities with multiple robots. This approach provides a multisensory learning environment where students can learn through representations or simulations of ideas, events, stories, phenomena, or processes using multiple robot actors. Based on the drama process used by teachers, we propose steps to create and perform plays with robot actors in an educational context and discuss different alternatives for its implementation. Finally, we discuss the challenges of creating plays with multiple robots for educational purposes.
教育机器人作为从幼儿园到大学的各个层面的学习工具都有巨大的潜力。它通过操纵机器人和与机器人互动,为合作构建知识和获取技能提供了丰富的机会。尽管在这一领域取得了显著进展,但基于机器人的活动的范围和影响主要集中在技术学校科目(即计算机科学、数学和物理)的教学上。这项工作提出通过多个机器人的戏剧活动来支持非技术学校科目的学习和教学。这种方法提供了一个多感官的学习环境,学生可以使用多个机器人角色通过对想法、事件、故事、现象或过程的表示或模拟进行学习。基于教师使用的戏剧过程,我们提出了在教育背景下与机器人演员一起创作和表演戏剧的步骤,并讨论了不同的实施方案。最后,我们讨论了使用多个机器人创作游戏以达到教育目的的挑战。
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引用次数: 22
Reframing HRI education 重构人力资源教育
Pub Date : 2017-09-01 DOI: 10.5898/JHRI.6.2.Montebelli
Alberto Montebelli, E. Billing, J. Lindblom, Giulia Messina Dahlberg
Over the last few years, technological developments in semi-autonomous machines have raised awareness about the strategic importance of human-robot interaction (HRI) and its technical and social implications. At the same time, HRI still lacks an established pedagogic tradition in the coordination of its intrinsically interdisciplinary nature. This scenario presents steep and urgent challenges for HRI education. Our contribution presents a normative interdisciplinary dialogic framework for HRI education, denoted InDia wheel, aimed toward seamless and coherent integration of the variety of disciplines that contribute to HRI. Our framework deemphasizes technical mastery, reducing it to a necessary yet not sufficient condition for HRI design, thus modifying the stereotypical narration of HRI-relevant disciplines and creating favorable conditions for a more diverse participation of students. Prospectively, we argue, the design of an educational 'space of interaction' that focuses on a variety of voices, without giving supremacy to one over the other, will be key to successful HRI education and practice.
在过去的几年里,半自主机器的技术发展提高了人们对人机交互的战略重要性及其技术和社会影响的认识。与此同时,HRI在协调其本质上的跨学科性质方面仍然缺乏一个既定的教育传统。这种情况对人权教育提出了严峻而紧迫的挑战。我们的贡献为HRI教育提供了一个规范的跨学科对话框架,称为InDia wheel,旨在无缝和连贯地整合有助于HRI的各种学科。我们的框架不强调技术掌握,将其简化为HRI设计的必要但不充分的条件,从而改变了HRI相关学科的刻板叙事,为学生更多元化的参与创造了有利条件。我们认为,从长远来看,设计一个专注于各种声音的教育“互动空间”,而不让一种声音凌驾于另一种声音之上,将是HRI教育和实践成功的关键。
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引用次数: 4
An HRI graduate course for exposing technologists to the importance of considering social aspects of technology 这是一门人力资源研究所的研究生课程,旨在使技术人员了解考虑技术的社会方面的重要性
Pub Date : 2017-09-01 DOI: 10.5898/JHRI.6.2.Young
J. Young
This article illustrates how HRI can be a useful vehicle for exposing technologist students (e.g., in computer science or engineering) to social aspects of technology and to the concrete benefits that a socially aware perspective can bring to technology design, implementation, and use. The article details the strategy and layout taken with the graduate-level Human-Robot Interaction (HRI) course at the University of Manitoba, Canada, between 2011 and 2015, for the purposes of introducing students to social considerations surrounding technology. Further, this paper reflects on the results from three iterations of the course and demonstrates how students have engaged socially aware thinking and analysis in their course projects. This single, introductory HRI course can be a catalyst for encouraging socially aware thinking in technologist students.
本文说明了HRI如何成为一种有用的工具,使技术专业的学生(例如,计算机科学或工程专业的学生)了解技术的社会方面,以及社会意识视角可以为技术设计、实现和使用带来的具体好处。本文详细介绍了2011年至2015年间加拿大马尼托巴大学研究生级人机交互(HRI)课程的策略和布局,目的是向学生介绍围绕技术的社会考虑因素。此外,本文反映了课程三次迭代的结果,并展示了学生如何在他们的课程项目中进行社会意识思考和分析。这个单一的介绍性HRI课程可以成为鼓励技术专业学生进行社会意识思考的催化剂。
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引用次数: 1
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Journal of human-robot interaction
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