| 1. |
- Alves-Oliveira, Patricia, et al.
(författare)
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Empathic robot for group learning : A field study
- 2019
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Ingår i: ACM Transactions on Human-Robot Interaction. - : Association for Computing Machinery (ACM). - 2573-9522. ; 8:1
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Tidskriftsartikel (refereegranskat)abstract
- This work explores a group learning scenario with an autonomous empathic robot. We address two research questions: (1) Can an autonomous robot designed with empathic competencies foster collaborative learning in a group context? (2) Can an empathic robot sustain positive educational outcomes in long-term collaborative learning interactions with groups of students? To answer these questions, we developed an autonomous robot with empathic competencies that is able to interact with a group of students in a learning activity about sustainable development. Two studies were conducted. The first study compares learning outcomes in children across three conditions: learning with an empathic robot; learning with a robot without empathic capabilities; and learning without a robot. The results show that the autonomous robot with empathy fosters meaningful discussions about sustainability, which is a learning outcome in sustainability education. The second study features groups of students who interact with the robot in a school classroom for 2 months. The long-term educational interaction did not seem to provide significant learning gains, although there was a change in game-actions to achieve more sustainability during game-play. This result reflects the need to perform more long-term research in the field of educational robots for group learning.
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| 2. |
- Bajones, Markus, et al.
(författare)
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Results of Field Trials with a Mobile Service Robot for Older Adults in 16 Private Households
- 2019
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Ingår i: ACM Transactions on Human-Robot Interaction. - : Association for Computing Machinery (ACM). - 2573-9522. ; 9:2, s. 10:1-10:27
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Tidskriftsartikel (refereegranskat)abstract
- In this article, we present results obtained from field trials with the Hobbit robotic platform, an assistive, social service robot aiming at enabling prolonged independent living of older adults in their own homes. Our main contribution lies within the detailed results on perceived safety, usability, and acceptance from field trials with autonomous robots in real homes of older users. In these field trials, we studied how 16 older adults (75 plus) lived with autonomously interacting service robots over multiple weeks. Robots have been employed for periods of months previously in home environments for older people, and some have been tested with manipulation abilities, but this is the first time a study has tested a robot in private homes that provided the combination of manipulation abilities, autonomous navigation, and nonscheduled interaction for an extended period of time. This article aims to explore how older adults interact with such a robot in their private homes. Our results show that all users interacted with Hobbit daily, rated most functions as well working, and reported that they believe that Hobbit will be part of future elderly care. We show that Hobbit's adaptive behavior approach towards the user increasingly eased the interaction between the users and the robot. Our trials reveal the necessity to move into actual users' homes, as only there, we encounter real-world challenges and demonstrate issues such as misinterpretation of actions during non-scripted human-robot interaction.
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| 3. |
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| 4. |
- Engwall, Olov, et al.
(författare)
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Identification of Low-engaged Learners in Robot-led Second Language Conversations with Adults
- 2022
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Ingår i: ACM Transactions on Human-Robot Interaction. - : Association for Computing Machinery (ACM). - 2573-9522. ; 11:2
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Tidskriftsartikel (refereegranskat)abstract
- The main aim of this study is to investigate if verbal, vocal, and facial information can be used to identify low-engaged second language learners in robot-led conversation practice. The experiments were performed on voice recordings and video data from 50 conversations, in which a robotic head talks with pairs of adult language learners using four different interaction strategies with varying robot-learner focus and initiative. It was found that these robot interaction strategies influenced learner activity and engagement. The verbal analysis indicated that learners with low activity rated the robot significantly lower on two out of four scales related to social competence. The acoustic vocal and video-based facial analysis, based on manual annotations or machine learning classification, both showed that learners with low engagement rated the robot's social competencies consistently, and in several cases significantly, lower, and in addition rated the learning effectiveness lower. The agreement between manual and automatic identification of low-engaged learners based on voice recordings or face videos was further found to be adequate for future use. These experiments constitute a first step towards enabling adaption to learners' activity and engagement through within- and between-strategy changes of the robot's interaction with learners.
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| 5. |
- Gillet, Sarah, et al.
(författare)
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Interaction-Shaping Robotics : Robots That Influence Interactions between Other Agents
- 2024
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Ingår i: ACM Transactions on Human-Robot Interaction. - : Association for Computing Machinery (ACM). - 2573-9522. ; 13:1
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Tidskriftsartikel (refereegranskat)abstract
- Work in Human–Robot Interaction (HRI) has investigated interactions between one human and one robot as well as human–robot group interactions. Yet the field lacks a clear definition and understanding of the influence a robot can exert on interactions between other group members (e.g., human-to-human). In this article, we define Interaction-Shaping Robotics (ISR), a subfield of HRI that investigates robots that influence the behaviors and attitudes exchanged between two (or more) other agents. We highlight key factors of interaction-shaping robots that include the role of the robot, the robot-shaping outcome, the form of robot influence, the type of robot communication, and the timeline of the robot’s influence. We also describe three distinct structures of human–robot groups to highlight the potential of ISR in different group compositions and discuss targets for a robot’s interaction-shaping behavior. Finally, we propose areas of opportunity and challenges for future research in ISR.
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| 6. |
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| 7. |
- Harrison, Katherine, 1977-, et al.
(författare)
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Affective Corners as a Problematic for Design Interactions
- 2023
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Ingår i: ACM Transactions on Human-Robot Interaction. - : Association for Computing Machinery (ACM). - 2573-9522. ; 12:4
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Tidskriftsartikel (refereegranskat)abstract
- Domestic robots are already commonplace in many homes, while humanoid companion robots like Pepper are increasingly becoming part of different kinds of care work. Drawing on fieldwork at a robotics lab, as well as our personal encounters with domestic robots, we use here the metaphor of “hard-to-reach corners” to explore the socio-technical limitations of companion robots and our differing abilities to respond to these limitations. This paper presents “hard-to-reach-corners” as a problematic for design interaction, offering them as an opportunity for thinking about context and intersectional aspects of adaptation.
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| 8. |
- Korn, Oliver, et al.
(författare)
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Understanding Cultural Preferences for Social Robots : A Study in German and Arab Communities
- 2021
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Ingår i: ACM Transactions on Human-Robot Interaction. - : Association for Computing Machinery (ACM). - 2573-9522. ; 10:2
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Tidskriftsartikel (refereegranskat)abstract
- This article presents a study of cultural differences affecting the acceptance and design preferences of social robots. Based on a survey with 794 participants from Germany and the three Arab countries of Egypt, Jordan, and Saudi Arabia, we discuss how culture influences the preferences for certain attributes. We look at social roles, abilities and appearance, emotional awareness and interactivity of social robots, as well as the attitude toward automation. Preferences were found to differ not only across cultures, but also within countries with similar cultural backgrounds. Our findings also show a nuanced picture of the impact of previously identified culturally variable factors, such as attitudes toward traditions and innovations. While the participants' perspectives toward traditions and innovations varied, these factors did not fully account for the cultural variations in their perceptions of social robots. In conclusion, we believe that more real-life practices emerging from the situated use of robots should be investigated. Besides focusing on the impact of broader cultural values such as those associated with religion and traditions, future studies should examine how users interact, or avoid interaction, with robots within specific contexts of use.
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| 9. |
- Lagerstedt, Erik, et al.
(författare)
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Multiple Roles of Multimodality Among Interacting Agents
- 2023
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Ingår i: ACM Transactions on Human-Robot Interaction. - : ACM Digital Library. - 2573-9522. ; 12:2
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Tidskriftsartikel (refereegranskat)abstract
- The term ‘multimodality’ has come to take on several somewhat different meanings depending on the underlying theoretical paradigms and traditions, and the purpose and context of use. The term is closely related to embodiment, which in turn is also used in several different ways. In this paper, we elaborate on this connection and propose that a pragmatic and pluralistic stance is appropriate for multimodality. We further propose a distinction between first and second order effects of multimodality; what is achieved by multiple modalities in isolation and the opportunities that emerge when several modalities are entangled. This highlights questions regarding ways to cluster or interchange different modalities, for example through redundancy or degeneracy. Apart from discussing multimodality with respect to an individual agent, we further look to more distributed agents and situations where social aspects become relevant.In robotics, understanding the various uses and interpretations of these terms can prevent miscommunication when designing robots, as well as increase awareness of the underlying theoretical concepts. Given the complexity of the different ways in which multimodality is relevant in social robotics, this can provide the basis for negotiating appropriate meanings of the term at a case by case basis.
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| 10. |
- Latupeirissa, Adrian Benigno, et al.
(författare)
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Probing Aesthetics Strategies for Robot Sound: Complexity and Materiality in Movement Sonification
- 2023
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Ingår i: ACM Transactions on Human-Robot Interaction. - : Association for Computing Machinery (ACM). - 2573-9522.
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Tidskriftsartikel (refereegranskat)abstract
- 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).
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| 11. |
- Ljungblad, Sara, 1977
(författare)
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Applying ”designerly framing” to understand assisted feeding as social aesthetic bodily experiences : Hur design expertis kan tillämpas för att förstå måltidsassistans som en social och estetisk kroppslig upplevelse
- 2023
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Ingår i: ACM Transactions on Human-Robot Interaction. - : Association for Computing Machinery (ACM). - 2573-9522. ; 12:2, s. 1-23
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Tidskriftsartikel (refereegranskat)abstract
- What could it mean to take a designerly perspective of a robotic eating aid to get a more holistic understanding of meals as social and embodied experiences? In this paper we provide a new perspective of bodily experiences of assisted feeding. We apply ”designerly framing” in the context of meals and Human Robot Interaction (HRI) and contribute with insights for researchers with backgrounds other than design into how ”designerly framing” can foreground social and aesthetic use. The study focuses on experiences of assisted feeding of five people with impairments in their arms or hands. All of the subjects have long-term experience of meal assistance, and four also have experience of using a robotic eating aid. The data collection comprises seven interview sessions held in peoples homes, a functional analysis of the meal experience, and a workshop held at a design agency. The ”designerly framing” is also supported by a theoretical framework describing different types of use to open the meal as a design space. This complements and extends existing knowledge on acceptance and abandonment of assistive technology and assistive robotics for the meal.
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| 12. |
- Mubin, Omar, et al.
(författare)
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Reflecting on the presence of science fiction robots in computing literature
- 2019
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Ingår i: ACM Transactions on Human-Robot Interaction. - : Association for Computing Machinery (ACM). - 2573-9522. ; 8:1
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Tidskriftsartikel (refereegranskat)abstract
- Depictions of robots and AIs in popular science fiction movies and shows have the potential to showcase visions of Human-Robot Interaction (HRI) to the general public and computer science researchers alike. In contrast, studies on the referral, usage, and appropriation of these portrayals by computer scientists in their research publications is an academic void at present. However, such investigations are critical to better understand the potential utility and latent shortcomings of science fiction robots for future HRI research, innovation, and education. To address this research gap, this study investigates the overall presence, nature, and frequency of referrals of 18 popular science fiction robots in the Association for Computing Machinery (ACM) Digital Library. These robots were either portrayed in various movies and subsequently inducted into the Robot Hall of Fame, created by Carnegie Mellon University in 2003, or were top-ranked in a user-curated Internet Movie Database (IMDB) list. To do so, we performed full-text search and retrieval queries of all 18 robots in the ACM Digital Library. In total, we identified 121 relevant mentions, across 102 individual publications, in a time span from 1973 to 2017. These 121 mentions were then qualitatively analysed to determine the nature of the robot mentions. Our results indicate that the robot attributes of voice or dialogue were emerging as a popularly mentioned element. In addition, we find that research papers of philosophical nature mention sci-fi robots more frequently than papers of technical or theoretical nature. We also observe that the dystopian element of science fiction is under-utilised, with the majority of robot mentions exhibiting neutral or utopian characteristics. In conclusion, we speculate on our results and present possible avenues of future HRI research on the topic.
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| 13. |
- Olatunji, Samuel, et al.
(författare)
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Levels of Automation for a Mobile Robot Teleoperated by a Caregiver
- 2022
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Ingår i: ACM Transactions on Human-Robot Interaction. - : Association for Computing Machinery (ACM). - 2573-9522. ; 11:2
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Tidskriftsartikel (refereegranskat)abstract
- Caregivers in eldercare can benefit from telepresence robots that allow them to perform a variety of tasks remotely. In order for such robots to be operated effectively and efficiently by non-technical users, it is important to examine if and how the robotic system's level of automation (LOA) impacts their performance. The objective of this work was to develop suitable LOA modes for a mobile robotic telepresence (MRP) system for eldercare and assess their influence on users' performance, workload, awareness of the environment and usability at two different levels of task complexity. For this purpose, two LOA modes were implemented on the MRP platform: assisted teleoperation (low LOA mode) and autonomous navigation (high LOA mode). The system was evaluated in a user study with 20 participants, who, in the role of the caregiver, navigated the robot through a home-like environment to perform control and perception tasks. Results revealed that performance improved in the high LOA when task complexity was low. However, when task complexity increased, lower LOA improved performance. This opposite trend was also observed in the results for workload and situation awareness. We discuss the results in terms of the LOAs' impact on users' attitude towards automation and implications on usability.
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| 14. |
- Orthmann, Bastian, et al.
(författare)
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Sounding Robots: Design and Evaluation of Auditory Displays for Unintentional Human-robot Interaction
- 2023
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Ingår i: ACM Transactions on Human-Robot Interaction. - : Association for Computing Machinery (ACM). - 2573-9522. ; 12:4
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Tidskriftsartikel (refereegranskat)abstract
- Non-verbal communication is important in HRI, particularly when humans and robots do not need to actively engage in a task together, but rather they co-exist in a shared space. Robots might still need to communicate states such as urgency or availability, and where they intend to go, to avoid collisions and disruptions. Sounds could be used to communicate such states and intentions in an intuitive and non-disruptive way. Here, we propose a multi-layer classification system for displaying various robot information simultaneously via sound. We first conceptualise which robot features could be displayed (robot size, speed, availability for interaction, urgency, and directionality); we then map them to a set of audio parameters. The designed sounds were then evaluated in five online studies, where people listened to the sounds and were asked to identify the associated robot features. The sounds were generally understood as intended by participants, especially when they were evaluated one feature at a time, and partially when they were evaluated two features simultaneously. The results of these evaluations suggest that sounds can be successfully used to communicate robot states and intended actions implicitly and intuitively.
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| 15. |
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| 16. |
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| 17. |
- Rudaz, Damien, et al.
(författare)
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From Inanimate Object to Agent : Impact of Pre-beginnings on the Emergence of Greetings with a Robot
- 2023
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Ingår i: ACM Transactions on Human-Robot Interaction. - : Association for Computing Machinery (ACM). - 2573-9522. ; 12:3
-
Tidskriftsartikel (refereegranskat)abstract
- The very first moments of co-presence, during which a robot appears to a participant for the first time, are often "off-the-record" in the data collected from human-robot experiments (video recordings, motion tracking, methodology sections, etc.). Yet, this "pre-beginning" phase, well documented in the case of human-human interactions, is not an interactional vacuum: It is where interactional work from participants can take place so the production of a first speaking turn (like greeting the robot) becomes relevant and expected. We base our analysis on an experiment that replicated the interaction opening delays sometimes observed in laboratory or "in-the-wild" human-robot interaction studies-where robots can require time before springing to life after they are in co-presence with a human. Using an ethnomethodological and multimodal conversation analytic methodology (EMCA), we identify which properties of the robot's behavior were oriented to by participants as creating the adequate conditions to produce a first greeting. Our findings highlight the importance of the state in which the robot originally appears to participants: as an immobile object or, instead, as an entity already involved in preexisting activity. Participants' orientations to the very first behaviors manifested by the robot during this "pre-beginning" phase produced a priori unpredictable sequential trajectories, which configured the timing and the manner in which the robot emerged as a social agent. We suggest that these first instants of co-presence are not peripheral issues with respect to human-robot experiments but should be thought about and designed as an integral part of those.
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| 18. |
- Sebastian, Wallkötter, et al.
(författare)
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Explainable Embodied Agents Through Social Cues : A Review
- 2021
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Ingår i: ACM Transactions on Human-Robot Interaction. - : Association for Computing Machinery (ACM). - 2573-9522. ; 10:3
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Tidskriftsartikel (refereegranskat)abstract
- The issue of how to make embodied agents explainable has experienced a surge of interest over the past 3 years, and there are many terms that refer to this concept, such as transparency and legibility. One reason for this high variance in terminology is the unique array of social cues that embodied agents can access in contrast to that accessed by non-embodied agents. Another reason is that different authors use these terms in different ways. Hence, we review the existing literature on explainability and organize it by (1) providing an overview of existing definitions, (2) showing how explainability is implemented and how it exploits different social cues, and (3) showing how the impact of explainability is measured. Additionally, we present a list of open questions and challenges that highlight areas that require further investigation by the community. This provides the interested reader with an overview of the current state of the art.
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| 19. |
- Stefanov, Kalin, et al.
(författare)
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Modeling of Human Visual Attention in Multiparty Open-World Dialogues
- 2019
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Ingår i: ACM Transactions on Human-Robot Interaction. - : ASSOC COMPUTING MACHINERY. - 2573-9522. ; 8:2
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Tidskriftsartikel (refereegranskat)abstract
- This study proposes, develops, and evaluates methods for modeling the eye-gaze direction and head orientation of a person in multiparty open-world dialogues, as a function of low-level communicative signals generated by his/hers interlocutors. These signals include speech activity, eye-gaze direction, and head orientation, all of which can be estimated in real time during the interaction. By utilizing these signals and novel data representations suitable for the task and context, the developed methods can generate plausible candidate gaze targets in real time. The methods are based on Feedforward Neural Networks and Long Short-Term Memory Networks. The proposed methods are developed using several hours of unrestricted interaction data and their performance is compared with a heuristic baseline method. The study offers an extensive evaluation of the proposed methods that investigates the contribution of different predictors to the accurate generation of candidate gaze targets. The results show that the methods can accurately generate candidate gaze targets when the person being modeled is in a listening state. However, when the person being modeled is in a speaking state, the proposed methods yield significantly lower performance.
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| 20. |
- Thellman, Sam, et al.
(författare)
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Mental State Attribution to Robots: A Systematic Review of Conceptions, Methods, and Findings
- 2022
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Ingår i: ACM Transactions on Human-Robot Interaction. - : ASSOC COMPUTING MACHINERY. - 2573-9522. ; 11:4
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Forskningsöversikt (refereegranskat)abstract
- The topic of mental state attribution to robots has been approached by researchers from a variety of disciplines, including psychology, neuroscience, computer science, and philosophy. As a consequence, the empirical studies that have been conducted so far exhibit considerable diversity in terms of how the phenomenon is described and how it is approached from a theoretical and methodological standpoint. This literature review addresses the need for a shared scientific understanding of mental state attribution to robots by systematically and comprehensively collating conceptions, methods, and findings from 155 empirical studies across multiple disciplines. The findings of the review include that: (1) the terminology used to describe mental state attribution to robots is diverse but largely homogenous in usage; (2) the tendency to attribute mental states to robots is determined by factors such as the age and motivation of the human as well as the behavior, appearance, and identity of the robot; (3) there is a computer < robot < human pattern in the tendency to attribute mental states that appears to be moderated by the presence of socially interactive behavior; (4) there are conflicting findings in the empirical literature that stem from different sources of evidence, including self-report and non-verbal behavioral or neurological data. The review contributes toward more cumulative research on the topic and opens up for a transdisciplinary discussion about the nature of the phenomenon and what types of research methods are appropriate for investigation.
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| 21. |
- Thellman, Sam, et al.
(författare)
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The Perceptual Belief Problem : Why Explainability Is a Tough Challenge in Social Robotics
- 2021
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Ingår i: ACM Transactions on Human-Robot Interaction. - : Association for Computing Machinery (ACM). - 2573-9522. ; 10:3
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Tidskriftsartikel (refereegranskat)abstract
- The explainability of robotic systems depends on people’s ability to reliably attribute perceptual beliefs to robots, i.e., what robots know (or believe) about objects and events in the world based on their perception. However, the perceptual systems of robots are not necessarily well understood by the majority of people interacting with them. In this article, we explain why this is a significant, difficult, and unique problem in social robotics. The inability to judge what a robot knows (and does not know) about the physical environment it shares with people gives rise to a host of communicative and interactive issues, including difficulties to communicate about objects or adapt to events in the environment. The challenge faced by social robotics researchers or designers who want to facilitate appropriate attributions of perceptual beliefs to robots is to shape human–robot interactions so that people understand what robots know about objects and events in the environment. To meet this challenge, we argue, it is necessary to advance our knowledge of when and why people form incorrect or inadequate mental models of robots’ perceptual and cognitive mechanisms. We outline a general approach to studying this empirically and discuss potential solutions to the problem.
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| 22. |
- Wang, Ziming, 1992, et al.
(författare)
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The Effects of Natural Sounds and Proxemic Distances on the Perception of a Noisy Domestic Flying Robot
- 2023
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Ingår i: ACM Transactions on Human-Robot Interaction. - : Association for Computing Machinery (ACM). - 2573-9522. ; 12:4, s. 1-32
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Tidskriftsartikel (refereegranskat)abstract
- When flying robots are used in close-range interaction with humans, the noise they generate, also called consequential sound, is a critical parameter for user acceptance. We conjecture that there is a benefit in adding natural sounds to noisy domestic drones. To test our hypothesis experimentally, we carried out a mixed-methods research study (N=56) on reported user perception of a sonified domestic flying robot with three sound conditions at three distances. The natural sounds studied were respectively added to the robot’s inherent noises during flying; namely a birdsong and a rain sound, plus a control condition of no added sound. The distances studied were set according to proxemics; namely near, middle, and far. Our results show that adding birdsong or rain sound affects the participants’ perceptions, and the proxemic distances play a nonnegligible role. For instance, we found that participants liked the bird condition the most when the drone was at far, while they disliked the same sound the most when at near. We also found that participants’ perceptions strongly depended on their associations and interpretations deriving from previous experience. We derived six concrete design recommendations.
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| 23. |
- Winkle, Katie, et al.
(författare)
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15 Years of (Who)man Robot Interaction : Reviewing the H in Human-Robot Interaction
- 2023
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Ingår i: ACM Transactions on Human-Robot Interaction. - : Association for Computing Machinery (ACM). - 2573-9522. ; 12:3
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Forskningsöversikt (refereegranskat)abstract
- Recent work identified a concerning trend of disproportional gender representation in research participants in Human-Computer Interaction (HCI). Motivated by the fact that Human-Robot Interaction (HRI) shares many participant practices with HCI, we explored whether this trend is mirrored in our field. By producing a dataset covering participant gender representation in all 684 full papers published at the HRI conference from 2006-2021, we identify current trends in HRI research participation. We find an over-representation of men in research participants to date, as well as inconsistent and/or incomplete gender reporting which typically engages in a binary treatment of gender at odds with published best practice guidelines. We further examine if and how participant gender has been considered in user studies to date, in-line with current discourse surrounding the importance and/or potential risks of gender based analyses. Finally, we complement this with a survey of HRI researchers to examine correlations between the who is doing with the who is taking part, to further reflect on factors which seemingly influence gender bias in research participation across different sub-fields of HRI. Through our analysis we identify areas for improvement, but also reason for optimism, and derive some practical suggestions for HRI researchers going forward.
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