Signaling Motions for communication in human-robot interaction
Year: 2022
Type: conference-paper
Abstract: The concept of signaling motions of a robot interacting with a human was presented in a conference paper. These motions consist in using the redundant degrees of freedom of a robot performing a task as new means of meaningful communication between the robot and the human. They are generated by a quasi-static torque control, consistent with the main task of the robot. A double within-subjects study (N=16) was conducted to evaluate the effects of two signaling motions (one diffuse - breathing - and one explicit - postural encoding) on the participants' performance of a simulated wood-turning task and on their behavior towards the robot. Our results show a positive effect on both task performance and participants' behavior. Furthermore, both signaling movements appear to improve participants' situation awareness by feeding their mental model throughout the interaction. Based on a systematic evaluation of potential situational awareness demons and this work, our long-term goal is to explore a general way to overlay these signaling motions onto robot movements in an automatic, transparent, and appropriate manner. One of the challenges in achieving this goal is related to understanding the relationship between the context as well as the specific characteristics of the user and the perception of the signaling motions.
Source: HAL
Institution: Laboratoire de l'Intégration du Matériau au Système
Language: French
Subfield: Social Psychology
Field: Psychology
Domain: Social Sciences
Open Access status: green
OpenAlex ID: W4378839404