Evaluation of human sense of security for coexisting robots using virtual reality. 1st report: evaluation of pick and place motion of humanoid robots

Nonaka, Shogo; Inoue, Kenji; Arai, Tatsuo; Mae, Yasushi

doi:10.1109/robot.2004.1307480

Cited by 62 publications

(60 citation statements)

References 7 publications

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“…In our work, we were especially interested in the practical acceptability of robots from the users' point of view: we tried to study the usability and the satisfaction of people when collaborating with robots. The study of the acceptability of human-robot collaboration focuses on several parameters: robot appearance [Goetz et al 2003], robot movements [Nonaka et al 2004;Kulić and Croft 2007;Huber et al 2008;Kupferberg et al 2011], robot behavior, robot speed, robot safety distance [Karwowski and Rahimi 1991]... When dealing with only one kind of parameter or with a specific system, the implementation of experiments in a real environment with a real robot is the usual way to proceed and may be sufficient.…”

Section: Related Workmentioning

confidence: 99%

“…The only experiments that used virtual reality to study human-robot collaboration took little advantage of its interaction functionalities. Nonaka et al [Nonaka et al 2004] and Inoue et al [Inoue et al 2005] used virtual robots (with head-mounted displays or CAVE systems) to evaluate the effect of robot movements and robot proximity on the users, but did not study any interaction and collaboration between them. On a different topic, De Santis et al [De Santis et al 2008] used virtual reality to evaluate the usability of different (virtual) robotic arms mounted on a wheelchair, but this was especially for efficiency purposes.…”

Section: Related Workmentioning

confidence: 99%

“…The most common tool to evaluate acceptability is to use questionnaires. Different kinds of questionnaires exist in the literature: some of them focus on the robot's attributes [Shibata and Inooka 1998] (humanlike, pleasant, interesting...), while others focus on the user's emotions [Nonaka et al 2004] (surprise, fear...). Bartneck et al [Bartneck et al 2009] performed a complete review on questionnaires about human-robot interaction and proposed their own questionnaires intended to be used by the community of robot developers.…”

Section: Related Workmentioning

confidence: 99%

See 2 more Smart Citations

A methodology to assess the acceptability of human-robot collaboration using virtual reality

Weistroffer¹,

Paljic²,

Callebert³

et al. 2013

Proceedings of the 19th ACM Symposium on Virtual Reality Software and Technology

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Robots are becoming more and more present in our everyday life: they are already used for domestic tasks, for companionship activities, and soon they will be used to assist humans and collaborate with them in their work. Human-robot collaboration has already been studied in the industry, for ergonomics and efficiency purposes, but more from a safety than from an acceptability point of view. In this work, we focused on how people perceive robots in a collaboration task and we proposed to use virtual reality as a simulation environment to test different parameters, by making users collaborate with virtual robots. A simple use case was implemented to compare different robot appearances and different robot movements. Questionnaires and physiological measures were used to assess the acceptability level of each condition with a user study. The results showed that the perception of robot movements depended on robot appearance and that a more anthropomorphic robot, both in its appearance and movements, was not necessarily better accepted by the users in a collaboration task. Finally, this preliminary use case was also the opportunity to guarantee the relevance of using such a methodology -based on virtual reality, questionnaires and physiological measures -for future studies.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

A methodology to assess the acceptability of human-robot collaboration using virtual reality

Weistroffer¹,

Paljic²,

Callebert³

et al. 2013

Proceedings of the 19th ACM Symposium on Virtual Reality Software and Technology

View full text Add to dashboard Cite

show abstract

“…The Human Aware Manipulation Planner, which is based on these user studies, produces not only physically safe paths but also comfortable, legible, mentally safe paths [20]. Our approach is based on separating the whole problem of manipulation, e.g a robot giving an object to the human, into 3 stages:…”

Section: Mhp -Manipulation In Human Presencementioning

confidence: 99%

Supervision and motion planning for a mobile manipulator interacting with humans

Sisbot

Clodic

Alami

et al. 2008

Proceedings of the 3rd ACM/IEEE International Conference on Human Robot Interaction

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Human Robot collaborative task achievement requires adapted tools and algorithms for both decision making and motion computation. The human presence as well as its behavior must be considered and actively monitored at the decisional level for the robot to produce synchronized and adapted behavior. Additionally, having a human within the robot range of action introduces security constraints as well as comfort considerations which must be taken into account at the motion planning and control level. This paper presents a robotic architecture adapted to human robot interaction and focuses on two tools: a human aware manipulation planner and a supervision system dedicated to collaborative task achievement.

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“…Two different tasks were used for the experiment: a pick-and-place motion (PP), similar to the trajectory displayed to subjects in Nonaka et al (Nonaka, Inoue et al, 2004) and a reach and retract motion (RR). These tasks were chosen to represent typical motions an articulated robot manipulator could be asked to perform during human-robot interaction, for example during hand-over tasks.…”

Section: Trajectory Generationmentioning

confidence: 99%

Safe Motion Planning for Human-Robot Interaction: Design and Experiments

Croft

2006

Mobile Robots: Towards New Applications

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Evaluation of human sense of security for coexisting robots using virtual reality. 1st report: evaluation of pick and place motion of humanoid robots

Cited by 62 publications

References 7 publications

A methodology to assess the acceptability of human-robot collaboration using virtual reality

A methodology to assess the acceptability of human-robot collaboration using virtual reality

Supervision and motion planning for a mobile manipulator interacting with humans

Safe Motion Planning for Human-Robot Interaction: Design and Experiments

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