scholarly journals Design of Hesitation Gestures for Nonverbal Human-Robot Negotiation of Conflicts

2021 ◽  
Vol 10 (3) ◽  
pp. 1-25
Author(s):  
Ajung Moon ◽  
Maneezhay Hashmi ◽  
H. F. Machiel Van Der Loos ◽  
Elizabeth A. Croft ◽  
Aude Billard
Keyword(s):  
Nonverbal Communication ◽  
Human Subjects ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Resource Conflicts ◽  
Conflict Situations ◽  
Interaction Experiment ◽  
Characteristic Features ◽  
Trajectory Generator ◽  
Positive Results

When the question of who should get access to a communal resource first is uncertain, people often negotiate via nonverbal communication to resolve the conflict. What should a robot be programmed to do when such conflicts arise in Human-Robot Interaction? The answer to this question varies depending on the context of the situation. Learning from how humans use hesitation gestures to negotiate a solution in such conflict situations, we present a human-inspired design of nonverbal hesitation gestures that can be used for Human-Robot Negotiation. We extracted characteristic features of such negotiative hesitations humans use, and subsequently designed a trajectory generator (Negotiative Hesitation Generator) that can re-create the features in robot responses to conflicts. Our human-subjects experiment demonstrates the efficacy of the designed robot behaviour against non-negotiative stopping behaviour of a robot. With positive results from our human-robot interaction experiment, we provide a validated trajectory generator with which one can explore the dynamics of human-robot nonverbal negotiation of resource conflicts.

scholarly journals Cross-cultural study on human-robot greeting interaction: acceptance and discomfort by Egyptians and Japanese

2013 ◽  
Vol 4 (2) ◽  
Author(s):  
Gabriele Trovato ◽  
Massimiliano Zecca ◽  
Salvatore Sessa ◽  
Lorenzo Jamone ◽  
Jaap Ham ◽  
...  
Keyword(s):  
Human Subjects ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
General Acceptance ◽  
Original Language ◽  
Cross Cultural Study ◽  
The People ◽  
Interaction Experiment ◽  
Specific Culture ◽  
Different Cultures

AbstractAs witnessed in several behavioural studies, a complex relationship exists between people’s cultural background and their general acceptance towards robots. However, very few studies have investigated whether a robot’s original language and gesture based on certain culture have an impact on the people of the different cultures. The purpose of this work is to provide experimental evidence which supports the idea that humans may accept more easily a robot that can adapt to their specific culture. Indeed, improving acceptance and reducing discomfort is fundamental for future deployment of robots as assistive, health-care or companion devices into a society. We conducted a Human- Robot Interaction experiment both in Egypt and in Japan. Human subjects were engaged in a simulated video conference with robots that were greeting and speaking either in Arabic or in Japanese. The subjects completed a questionnaire assessing their preferences and their emotional state, while their spontaneous reactions were recorded in different ways. The results suggest that Egyptians prefer the Arabic robot, while they feel a sense of discomfort when interacting with the Japanese robot; the opposite is also true for the Japanese. These findings confirm the importance of the localisation of a robot in order to improve human acceptance during social human-robot interaction.

Mapping Hybrid Agencies Through Multiagent Systems

2009 ◽  
pp. 215-227
Author(s):  
Samuel G. Collins ◽  
Goran Trajkovski
Keyword(s):  
Multiagent Systems ◽  
Human Subjects ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Social Phenomena ◽  
Motor Abilities ◽  
Social Actions ◽  
Multi Agent ◽  
Interaction Experiment ◽  
The One

In this chapter, we give an overview of the results of a Human-Robot Interaction experiment, in a near zerocontext environment. We stimulate the formation of a network joining together human agents and non-human agents, in order to examine emergent conditions and social actions. Human subjects, in teams of three to four, are presented with a task–to coax a robot (by any means) from one side of a table to the other–not knowing with what sensory and motor abilities the robotic structure is equipped. On the one hand, the “goal” of the exercise is to “move” the robot through any linguistic or paralinguistic means. But, from the perspective of the investigators, the goal is both broader and more nebulous–to stimulate any emergent interactions whatsoever between agents, human or non-human. Here we discuss emergent social phenomena in this assemblage of human and machine, in particular, turn-taking and discourse, suggesting (counter-intuitively) that the “transparency” of non-human agents may not be the most effective way to generate multi-agent sociality.

scholarly journals Turn-Taking Based on Information Flow for Fluent Human-Robot Interaction

AI Magazine ◽  
2011 ◽  
Vol 32 (4) ◽  
pp. 53-63 ◽  
Author(s):  
Andrea L. Thomaz ◽  
Crystal Chao
Keyword(s):  
Information Flow ◽  
Human Subjects ◽  
Human Robot Interaction ◽  
Human Communication ◽  
Robot Interaction ◽  
Human Skill ◽  
Fundamental Part ◽  
Turn Taking

Turn-taking is a fundamental part of human communication. Our goal is to devise a turn-taking framework for human-robot interaction that, like the human skill, represents something fundamental about interaction, generic to context or domain. We propose a model of turn-taking, and conduct an experiment with human subjects to inform this model. Our findings from this study suggest that information flow is an integral part of human floor-passing behavior. Following this, we implement autonomous floor relinquishing on a robot and discuss our insights into the nature of a general turn-taking model for human-robot interaction.

Fake Empathy and Human-Robot Interaction (HRI)

2020 ◽  
pp. 1556-1572
Author(s):  
Jordi Vallverdú ◽  
Toyoaki Nishida ◽  
Yoshisama Ohmoto ◽  
Stuart Moran ◽  
Sarah Lázare
Keyword(s):  
Social Relationships ◽  
Human Robot Interaction ◽  
Basic Emotion ◽  
Human Beings ◽  
Robot Interaction ◽  
Video Recordings ◽  
Main Challenge ◽  
Positive Results ◽  
Different Levels

Empathy is a basic emotion trigger for human beings, especially while regulating social relationships and behaviour. The main challenge of this paper is study whether people's empathic reactions towards robots change depending on previous information given to human about the robot before the interaction. The use of false data about robot skills creates different levels of what we call ‘fake empathy'. This study performs an experiment in WOZ environment in which different subjects (n=17) interacting with the same robot while they believe that the robot is a different robot, up to three versions. Each robot scenario provides a different ‘humanoid' description, and out hypothesis is that the more human-like looks the robot, the more empathically can be the human responses. Results were obtained from questionnaires and multi- angle video recordings. Positive results reinforce the strength of our hypothesis, although we recommend a new and bigger and then more robust experiment.

scholarly journals Towards natural handshakes for social robots: human-aware hand grasps using tactile sensors

2018 ◽  
Vol 9 (1) ◽  
pp. 221-234 ◽  
Author(s):  
João Avelino ◽  
Tiago Paulino ◽  
Carlos Cardoso ◽  
Ricardo Nunes ◽  
Plinio Moreno ◽  
...  
Keyword(s):  
Human Subjects ◽  
Tactile Feedback ◽  
Human Robot Interaction ◽  
Physical Interaction ◽  
Tactile Sensors ◽  
Cultural Backgrounds ◽  
Robot Interaction ◽  
Human Interactions ◽  
Hand Grip ◽  
Fundamental Part

Abstract Handshaking is a fundamental part of human physical interaction that is transversal to various cultural backgrounds. It is also a very challenging task in the field of Physical Human-Robot Interaction (pHRI), requiring compliant force control in order to plan the arm’s motion and for a confident, but at the same time pleasant grasp of the human user’s hand. In this paper,we focus on the study of the hand grip strength for comfortable handshakes and perform three sets of physical interaction experiments between twenty human subjects in the first experiment, thirty-five human subjects in the second one, and thirty-eight human subjects in the third one. Tests are made with a social robot whose hands are instrumented with tactile sensors that provide skin-like sensation. From these experiments, we: (i) learn the preferred grip closure according to each user group; (ii) analyze the tactile feedback provided by the sensors for each closure; (iii) develop and evaluate the hand grip controller based on previous data. In addition to the robot-human interactions, we also learn about the robot executed handshake interactions with inanimate objects, in order to detect if it is shaking hands with a human or an inanimate object. This work adds physical human-robot interaction to the repertory of social skills of our robot, fulfilling a demand previously identified by many users of the robot.

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