research-article

Designing Social Cues for Collaborative Robots: The Role of Gaze and Breathing in Human-Robot Collaboration

Authors:

Yunus Terzioğlu,

Erol ŞahinAuthors Info & Claims

HRI '20: Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction

Pages 343 - 357

https://doi.org/10.1145/3319502.3374829

Published: 09 March 2020 Publication History

Abstract

In this paper, we investigate how collaborative robots, or cobots, typically composed of a robotic arm and a gripper carrying out manipulation tasks alongside human coworkers, can be enhanced with HRI capabilities by applying ideas and principles from character animation. To this end, we modified the appearance and behaviors of a cobot, with minimal impact on its functionality and performance, and studied the extent to which these modifications improved its communication with and perceptions by human collaborators. Specifically, we aimed to improve the Appeal of the robot by manipulating its physical appearance, posture, and gaze, creating an animal-like character with a head-on-neck morphology; to utilize Arcs by generating smooth trajectories for the robot arm; and to increase the lifelikeness of the robot through Secondary Action by adding breathing motions to the robot. In two user studies, we investigated the effects of these cues on collaborator perceptions of the robot. Findings from our first study showed breathing to have a positive effect on most measures of robot perception and reveal nuanced interactions among the other factors. Data from our second study showed that, using gaze cues alone, a robot arm can improve metrics such as likeability and perceived sociability.

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Cited By

Osorio PSagawa RAbe NVenture G(2024)A Generative Model to Embed Human Expressivity into Robot MotionsSensors10.3390/s2402056924:2(569)Online publication date: 16-Jan-2024
https://doi.org/10.3390/s24020569
Maalouly EYamazaki RNishio SNørskov MKamaga KKomai SChiba KAtsumi KAkao K(2024)The effect of conversation on altruism: A comparative study with different media and generationsPLOS ONE10.1371/journal.pone.030176919:6(e0301769)Online publication date: 14-Jun-2024
https://doi.org/10.1371/journal.pone.0301769
Gavidia-Calderon CKordoni ABennaceur ALevine MNuseibeh B(2024)The IDEA of Us: An Identity-Aware Architecture for Autonomous SystemsACM Transactions on Software Engineering and Methodology10.1145/365443933:6(1-38)Online publication date: 28-Jun-2024
https://dl.acm.org/doi/10.1145/3654439
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Index Terms

Designing Social Cues for Collaborative Robots: The Role of Gaze and Breathing in Human-Robot Collaboration
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
2. Human-centered computing
  1. Human computer interaction (HCI)
  2. Interaction design

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Published In

cover image ACM Conferences

HRI '20: Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction

March 2020

690 pages

ISBN:9781450367462

DOI:10.1145/3319502

General Chairs:
Tony Belpaeme
Ghent University, Belgium
,
James Young
University of Manitoba, Canada
,
Program Chairs:
Hatice Gunes
University of Cambridge, UK
,
Laurel Riek
UC San Diego, USA

Copyright © 2020 ACM.

Publication rights licensed to ACM. ACM acknowledges that this contribution was authored or co-authored by an employee, contractor or affiliate of a national government. As such, the Government retains a nonexclusive, royalty-free right to publish or reproduce this article, or to allow others to do so, for Government purposes only.

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SIGAI: ACM Special Interest Group on Artificial Intelligence
SIGCHI: ACM Special Interest Group on Computer-Human Interaction
IEEE-RAS: Robotics and Automation

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 09 March 2020

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HRI '20: ACM/IEEE International Conference on Human-Robot Interaction

March 23 - 26, 2020

Cambridge, United Kingdom

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Cited By

Osorio PSagawa RAbe NVenture G(2024)A Generative Model to Embed Human Expressivity into Robot MotionsSensors10.3390/s2402056924:2(569)Online publication date: 16-Jan-2024
https://doi.org/10.3390/s24020569
Maalouly EYamazaki RNishio SNørskov MKamaga KKomai SChiba KAtsumi KAkao K(2024)The effect of conversation on altruism: A comparative study with different media and generationsPLOS ONE10.1371/journal.pone.030176919:6(e0301769)Online publication date: 14-Jun-2024
https://doi.org/10.1371/journal.pone.0301769
Gavidia-Calderon CKordoni ABennaceur ALevine MNuseibeh B(2024)The IDEA of Us: An Identity-Aware Architecture for Autonomous SystemsACM Transactions on Software Engineering and Methodology10.1145/365443933:6(1-38)Online publication date: 28-Jun-2024
https://dl.acm.org/doi/10.1145/3654439
Obi TFunakoshi KGrollman DBroadbent EJu WSoh HWilliams T(2024)Respiration-enhanced Human-Robot CommunicationCompanion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3610978.3640707(813-816)Online publication date: 11-Mar-2024
https://dl.acm.org/doi/10.1145/3610978.3640707
Liu RLiu YWang HLu F(2024)PnP-GA+: Plug-and-Play Domain Adaptation for Gaze Estimation using Model VariantsIEEE Transactions on Pattern Analysis and Machine Intelligence10.1109/TPAMI.2023.3348528(1-14)Online publication date: 2024
https://doi.org/10.1109/TPAMI.2023.3348528
Alhaji BBüttner SSanjay Kumar SPrilla M(2024)Trust dynamics in human interaction with an industrial robotBehaviour & Information Technology10.1080/0144929X.2024.2316284(1-23)Online publication date: 16-Feb-2024
https://doi.org/10.1080/0144929X.2024.2316284
Camblor BDaney DJoseph LSalotti J(2024)Attention Sharing Handling Through Projection Capability Within Human–Robot CollaborationInternational Journal of Social Robotics10.1007/s12369-024-01101-9Online publication date: 16-Feb-2024
https://doi.org/10.1007/s12369-024-01101-9
Liu RWang HLu F(2024)From Gaze Jitter to Domain Adaptation: Generalizing Gaze Estimation by Manipulating High-Frequency ComponentsInternational Journal of Computer Vision10.1007/s11263-024-02233-1Online publication date: 30-Sep-2024
https://doi.org/10.1007/s11263-024-02233-1
Yin ZZhou SWang LDai THua GZheng N(2024)Residual feature learning with hierarchical calibration for gaze estimationMachine Vision and Applications10.1007/s00138-024-01545-z35:4Online publication date: 5-May-2024
https://doi.org/10.1007/s00138-024-01545-z
Gorny PRenner BSchäfer L(2023)Prosocial behavior among human workers in robot-augmented production teams—A field-in-the-lab experimentFrontiers in Behavioral Economics10.3389/frbhe.2023.12205632Online publication date: 6-Nov-2023
https://doi.org/10.3389/frbhe.2023.1220563
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