Integrating Constrained Experiments in Long-term Human-Robot Interaction using Task– and Scenario–based Prototyping

© 2015 The Author(s). Published with license by Taylor & Francis© Dag Sverre Syrdal, Kerstin Dautenhahn, Kheng Lee Koay, and Wan Ching Ho. This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. The moral rights of the named author(s) have been asserted. Permission is granted subject to the terms of the License under which the work was published. Please check the License conditions for the work which you wish to reuse. Full and appropriate attribution must be given. This permission does not cover any third party copyrighted material which may appear in the work requested.In order to investigate how the use of robots may impact everyday tasks, 12 participants interacted with a University of Hertfordshire Sunflower robot over a period of 8 weeks in the university’s Robot House.. Participants performed two constrained tasks, one physical and one cognitive , 4 times over this period. Participant responses were recorded using a variety of measures including the System Usability Scale and the NASA Task Load Index . The use of the robot had an impact on the experienced workload of the participants differently for the two tasks, and this effect changed over time. In the physical task, there was evidence of adaptation to the robot’s behaviour. For the cognitive task, the use of the robot was experienced as more frustrating in the later weeks.Peer reviewedFinal Published versio

Views from within a narrative : Evaluating long-term human-robot interaction in a naturalistic environment using open-ended scenarios

Open Access This article is distributed under the terms of the Creative Commons Attribution License which permits any use, distribution, and reproduction in any medium, provided the original author(s) and the source are credited. Date of acceptance: 16/06/2014This article describes the prototyping of human–robot interactions in the University of Hertfordshire (UH) Robot House. Twelve participants took part in a long-term study in which they interacted with robots in the UH Robot House once a week for a period of 10 weeks. A prototyping method using the narrative framing technique allowed participants to engage with the robots in episodic interactions that were framed using narrative to convey the impression of a continuous long-term interaction. The goal was to examine how participants responded to the scenarios and the robots as well as specific robot behaviours, such as agent migration and expressive behaviours. Evaluation of the robots and the scenarios were elicited using several measures, including the standardised System Usability Scale, an ad hoc Scenario Acceptance Scale, as well as single-item Likert scales, open-ended questionnaire items and a debriefing interview. Results suggest that participants felt that the use of this prototyping technique allowed them insight into the use of the robot, and that they accepted the use of the robot within the scenarioPeer reviewe

A long-term Human-Robot Proxemic study

“This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder." “Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.”A long-term Human-Robot Proxemic (HRP) study was performed using a newly developed Autonomous Proxemic System (APS) for a robot to measure and control the approach distances to the human participants. The main findings were that most HRP adaptation occurred in the first two interaction sessions, and for the remaining four weeks, approach distance preferences remained relatively steady, apart from some short periods of increased distances for some participants. There were indications that these were associated with episodes where the robot malfunctioned, so this raises the possibility of users trust in the robot affecting HRP distance. The study also found that approach distances for humans approaching the robot and the robot approaching the human were comparable, though there were indications that humans preferred to approach the robot more closely than they allowed the robot to approach them in a physically restricted area. Two participants left the study prematurely, stating they were bored with the repetitive experimental procedures. This highlights issues related to the often incompatible demands of keeping experimental controlled conditions vs. having realistic, engaging and varied HRI trial scenarios

The Impact of Social Expectation towards Robots on Human-Robot Interactions

This work is presented in defence of the thesis that it is possible to measure the social expectations and perceptions that humans have of robots in an explicit and succinct manner, and these measures are related to how humans interact with, and evaluate, these robots. There are many ways of understanding how humans may respond to, or reason about, robots as social actors, but the approach that was adopted within this body of work was one which focused on interaction-specific expectations, rather than expectations regarding the true nature of the robot. These expectations were investigated using a questionnaire-based tool, the University of Hertfordshire Social Roles Questionnaire, which was developed as part of the work presented in this thesis and tested on a sample of 400 visitors to an exhibition in the Science Gallery in Dublin. This study suggested that responses to this questionnaire loaded on two main dimensions, one which related to the degree of social equality the participants expected the interactions with the robots to have, and the other was related to the degree of control they expected to exert upon the robots within the interaction. A single item, related to pet-like interactions, loaded on both and was considered a separate, third dimension. This questionnaire was deployed as part of a proxemics study, which found that the degree to which participants accepted particular proxemics behaviours was correlated with initial social expectations of the robot. If participants expected the robot to be more of a social equal, then the participants preferred the robot to approach from the front, while participants who viewed the robot more as a tool preferred it to approach from a less obtrusive angle. The questionnaire was also deployed in two long-term studies. In the first study, which involved one interaction a week over a period of two months, participant social expectations of the robots prior to the beginning of the study, not only impacted how participants evaluated open-ended interactions with the robots throughout the two-month period, but also how they collaborated with the robots in task-oriented interactions as well. In the second study, participants interacted with the robots twice a week over a period of 6 weeks. This study replicated the findings of the previous study, in that initial expectations impacted evaluations of interactions throughout the long-term study. In addition, this study used the questionnaire to measure post-interaction perceptions of the robots in terms of social expectations. The results from these suggest that while initial social expectations of robots impact how participants evaluate the robots in terms of interactional outcomes, social perceptions of robots are more closely related to the social/affective experience of the interaction

Avoiding the uncanny valley : robot appearance, personality and consistency of behavior in an attention-seeking home scenario for a robot companion

“The original publication is available at www.springerlink.com”. Copyright Springer. DOI: 10.1007/s10514-007-9058-3This article presents the results of video-based Human Robot Interaction (HRI) trials which investigated people’s perceptions of different robot appearances and associated attention-seeking features and behaviors displayed by robots with different appearance and behaviors. The HRI trials studied the participants’ preferences for various features of robot appearance and behavior, as well as their personality attributions towards the robots compared to their own personalities. Overall, participants tended to prefer robots with more human-like appearance and attributes. However, systematic individual differences in the dynamic appearance ratings are not consistent with a universal effect. Introverts and participants with lower emotional stability tended to prefer the mechanical looking appearance to a greater degree than other participants. It is also shown that it is possible to rate individual elements of a particular robot’s behavior and then assess the contribution, or otherwise, of that element to the overall perception of the robot by people. Relating participants’ dynamic appearance ratings of individual robots to independent static appearance ratings provided evidence that could be taken to support a portion of the left hand side of Mori’s theoretically proposed ‘uncanny valley’ diagram. Suggestions for future work are outlined.Peer reviewe

Conversational affective social robots for ageing and dementia support

Socially assistive robots (SAR) hold significant potential to assist older adults and people with dementia in human engagement and clinical contexts by supporting mental health and independence at home. While SAR research has recently experienced prolific growth, long-term trust, clinical translation and patient benefit remain immature. Affective human-robot interactions are unresolved and the deployment of robots with conversational abilities is fundamental for robustness and humanrobot engagement. In this paper, we review the state of the art within the past two decades, design trends, and current applications of conversational affective SAR for ageing and dementia support. A horizon scanning of AI voice technology for healthcare, including ubiquitous smart speakers, is further introduced to address current gaps inhibiting home use. We discuss the role of user-centred approaches in the design of voice systems, including the capacity to handle communication breakdowns for effective use by target populations. We summarise the state of development in interactions using speech and natural language processing, which forms a baseline for longitudinal health monitoring and cognitive assessment. Drawing from this foundation, we identify open challenges and propose future directions to advance conversational affective social robots for: 1) user engagement, 2) deployment in real-world settings, and 3) clinical translation

Exoskeletons with virtual reality, augmented reality and gamification for stroke patients' rehabilitation : systematic review

Background: Robot-assisted therapy has become a promising technology in the field of rehabilitation of post-stroke patients with motor disorders. Motivation during the rehabilitation process is a top priority for a majority of stroke survivors. With the advancement in technology, there has been the introduction of Virtual Reality, Augmented Reality, customizable games or a combination thereof that aid robotic therapy in retaining or increasing the interests of patients to keep performing the exercises. However, there are gaps in evidence regarding the transition from clinical rehabilitation to home-based therapy and it calls for an updated synthesis of literature showcasing this trend. The present review proposes a categorization of these studies according to technologies used by them and also details research in upper limb and lower limb applications. Objective: The goal of this work was to review the practices and technologies implemented for the rehabilitation of post-stroke patients. It aims to assess the effectiveness of exoskeleton robotics in conjunction with any of the three technologies, Virtual Reality, Augmented Reality or Gamification for improving activity and participation in post-stroke survivors. Methods: A systematic search of the literature on exoskeleton robotics applied with any of the three technologies, Virtual Reality, Augmented Reality or Gamification, was performed in the databases namely; MEDLINE (Medical Literature Analysis and Retrieval System Online, or MEDLARS Online), EMBASE (Excerpta Medica database), Science Direct & The Cochrane Library. Exoskeleton based studies that did not include any VR, AR or gamification elements were excluded and publications from the year 2010 to 2017 were included. Results in the form of improvements in patients were also recorded and taken into consideration in finding the effectiveness of therapy on patients. Results: Thirty studies were identified based on the inclusion criteria that included randomised controlled trials as well as explorative research pieces. There was a total of around 385 participants across the studies. Use of technologies such as Virtual Reality/Augmented Reality/Gamification based Exoskeletons are capable of filling the transition from clinical to home-based settings. Our analysis showed that there were in general improvements in the motor deficiency for patients using the novel interfacing techniques with exoskeletons. This categorization of studies helps in understanding the scope of rehabilitation therapies that can be successfully arranged for home-based rehabilitation. Conclusions: Future studies are necessary to explore various types of customizable games required to retain or increase the motivation of patients going through the therapy individually

A Systematic Review of Adaptivity in Human-Robot Interaction

As the field of social robotics is growing, a consensus has been made on the design and implementation of robotic systems that are capable of adapting based on the user actions. These actions may be based on their emotions, personality or memory of past interactions. Therefore, we believe it is significant to report a review of the past research on the use of adaptive robots that have been utilised in various social environments. In this paper, we present a systematic review on the reported adaptive interactions across a number of domain areas during Human-Robot Interaction and also give future directions that can guide the design of future adaptive social robots. We conjecture that this will help towards achieving long-term applicability of robots in various social domains

Toys That Listen: A Study of Parents, Children, and Internet-Connected Toys

Hello Barbie, CogniToys Dino, and Amazon Echo are part of a new wave of connected toys and gadgets for the home that listen. Unlike the smartphone, these devices are always on, blending into the background until needed. We conducted interviews with parent-child pairs in which they interacted with Hello Barbie and CogniToys Dino, shedding light on children’s expectations of the toys’ “intelligence” and parents’ privacy concerns and expectations for parental controls. We find that children were often unaware that others might be able to hear what was said to the toy, and that some parents draw connections between the toys and similar tools not intended as toys (e.g., Siri, Alexa) with which their children already interact. Our findings illuminate people’s mental models and experiences with these emerging technologies and will help inform the future designs of interactive, connected toys and gadgets. We conclude with recommendations for designers and policy makers.https://digitalcommons.law.uw.edu/techlab/1002/thumbnail.jp

An emotion and memory model for social robots : a long-term interaction

In this thesis, we investigate the role of emotions and memory in social robotic companions. In particular, our aim is to study the effect of an emotion and memory model towards sustaining engagement and promoting learning in a long-term interaction. Our Emotion and Memory model was based on how humans create memory under various emotional events/states. The model enabled the robot to create a memory account of user's emotional events during a long-term child-robot interaction. The robot later adapted its behaviour through employing the developed memory in the following interactions with the users. The model also had an autonomous decision-making mechanism based on reinforcement learning to select behaviour according to the user preference measured through user's engagement and learning during the task. The model was implemented on the NAO robot in two different educational setups. Firstly, to promote user's vocabulary learning and secondly, to inform how to calculate area and perimeter of regular and irregular shapes. We also conducted multiple long-term evaluations of our model with children at the primary schools to verify its impact on their social engagement and learning. Our results showed that the behaviour generated based on our model was able to sustain social engagement. Additionally, it also helped children to improve their learning. Overall, the results highlighted the benefits of incorporating memory during child-Robot Interaction for extended periods of time. It promoted personalisation and reflected towards creating a child-robot social relationship in a long-term interaction