ISMCR 1994: Topical Workshop on Virtual Reality. Proceedings of the Fourth International Symposium on Measurement and Control in Robotics

This symposium on measurement and control in robotics included sessions on: (1) rendering, including tactile perception and applied virtual reality; (2) applications in simulated medical procedures and telerobotics; (3) tracking sensors in a virtual environment; (4) displays for virtual reality applications; (5) sensory feedback including a virtual environment application with partial gravity simulation; and (6) applications in education, entertainment, technical writing, and animation

Leaning-based control of an immersive telepresence robot

Abstract. This thesis presents an implementation of a leaning-based control method which allows using the body to drive a telepresence robot. The implementation consisted of a control mapping to drive a differential drive telepresence robot using a Nintendo Wii Balance Board (Wiiboard). The motivation for using a balance board as a control device was to reduce Virtual Reality (VR) sickness by using small movements of your own body matching the motions seen on the screen; matching the body movement to the motion seen on the screen could mitigate sensory conflict between visual and vestibular organs which is generally held as one of the main causes for VR sickness. A user study (N=32) was conducted to compare the balance board to joysticks, in which the participants drove a simulated telepresence robot in a Virtual Environment (VE) along a marked path using both control methods. The results showed that the joystick did not cause any more VR sickness on the participants than the balance board, and the board proved to be statistically significantly more difficult to use, both subjectively and objectively. The balance board was unfamiliar to the participants and it was reported as hard to control. Analyzing the open-ended questions revealed a potential relationship between perceived difficulty and VR sickness, meaning that difficulty possibly affects sickness. The balance board’s potential to reduce VR sickness was held back by the difficulty to use it, thus making the board easier to use is the key to enabling its potential. A few suggestions were presented to achieve this goal.Immersiivisen etäläsnäolorobotin nojaamiseen perustuva ohjaus. Tiivistelmä. Tämä diplomityö esittelee nojautumiseen perustuvan ohjausmenetelmän toteutuksen, joka mahdollistaa etäläsnäolorobotin ohjaamisen käyttämällä kehoa. toteutus koostui ohjauskartoituksesta tasauspyörästö vetoisen etäläsnäolorobotin ohjaamiseksi Nintendo Wii Balance Board -tasapainolaudan avulla. Motivaatio tasapainolaudan käyttämiseen ohjauslaitteena oli vähentää virtuaalitodellisuus pahoinvointia käyttämällä pieniä oman kehon liikkeitä, jotka vastaavat näytöllä näkyviä liikkeitä; kehon liikkeen sovittaminen yhteen näytöllä nähtyyn liikkeeseen voi lieventää näkö- ja tasapainoelinten välistä aistiristiriitaa, jota pidetään yleisesti yhtenä pääsyistä virtuaalitodellisuus pahoinvointiin. Tasapainolautaa verrattiin ohjaussauvoihin käyttäjätutkimus (N=32), jossa osallistuja ajoivat simuloitua etäläsnäolorobottia virtuaaliympäristössä merkittyä reittiä pitkin käyttämällä molemmilla ohjausmenetelmiä. Tulokset osoittivat, että ohjaussauvat ei aiheuttanut osallistujille enempää virtuaalitodellisuus pahoinvointia kuin tasapainolauta, ja lauta osoittautui tilastollisesti merkitsevästi vaikeammaksi käyttää sekä subjektiivisesti että objektiivisesti. Tasapainolauta oli osallistujille tuntematon, ja sen ilmoitettiin olevan vaikeasti hallittava. Avointen kysymysten analysointi paljasti mahdollisen yhteyden koetun vaikeuden ja virtuaalitodellisuus pahoinvoinnin välillä, mikä tarkoittaa, että vaikeus voi mahdollisesti vaikuttaa pahoinvointiin. Tasapainolaudan vaikeus rajoitti sen potentiaalia vähentää virtuaalitodellisuus pahoinvointia, mikä tarkoittaa, että laudan käytön helpottaminen on avain sen potentiaalin saavuttamiseen. Muutamia ehdotuksia esitettiin tämän tavoitteen saavuttamiseksi

Bringing Human Robot Interaction towards _Trust and Social Engineering

Robots started their journey in books and movies; nowadays, they are becoming an important part of our daily lives: from industrial robots, passing through entertainment robots, and reaching social robotics in fields like healthcare or education. An important aspect of social robotics is the human counterpart, therefore, there is an interaction between the humans and robots. Interactions among humans are often taken for granted as, since children, we learn how to interact with each other. In robotics, this interaction is still very immature, however, critical for a successful incorporation of robots in society. Human robot interaction (HRI) is the domain that works on improving these interactions. HRI encloses many aspects, and a significant one is trust. Trust is the assumption that somebody or something is good and reliable; and it is critical for a developed society. Therefore, in a society where robots can part, the trust they could generate will be essential for cohabitation. A downside of trust is overtrusting an entity; in other words, an insufficient alignment of the projected trust and the expectations of a morally correct behaviour. This effect could negatively influence and damage the interactions between agents. In the case of humans, it is usually exploited by scammers, conmen or social engineers - who take advantage of the people's overtrust in order to manipulate them into performing actions that may not be beneficial for the victims. This thesis tries to shed light on the development of trust towards robots, how this trust could become overtrust and be exploited by social engineering techniques. More precisely, the following experiments have been carried out: (i) Treasure Hunt, in which the robot followed a social engineering framework where it gathered personal information from the participants, improved the trust and rapport with them, and at the end, it exploited that trust manipulating participants into performing a risky action. (ii) Wicked Professor, in which a very human-like robot tried to enforce its authority to make participants obey socially inappropriate requests. Most of the participants realized that the requests were morally wrong, but eventually, they succumbed to the robot'sauthority while holding the robot as morally responsible. (iii) Detective iCub, in which it was evaluated whether the robot could be endowed with the ability to detect when the human partner was lying. Deception detection is an essential skill for social engineers and professionals in the domain of education, healthcare and security. The robot achieved 75% of accuracy in the lie detection. There were also found slight differences in the behaviour exhibited by the participants when interacting with a human or a robot interrogator. Lastly, this thesis approaches the topic of privacy - a fundamental human value. With the integration of robotics and technology in our society, privacy will be affected in ways we are not used. Robots have sensors able to record and gather all kind of data, and it is possible that this information is transmitted via internet without the knowledge of the user. This is an important aspect to consider since a violation in privacy can heavily impact the trust. Summarizing, this thesis shows that robots are able to establish and improve trust during an interaction, to take advantage of overtrust and to misuse it by applying different types of social engineering techniques, such as manipulation and authority. Moreover, robots can be enabled to pick up different human cues to detect deception, which can help both, social engineers and professionals in the human sector. Nevertheless, it is of the utmost importance to make roboticists, programmers, entrepreneurs, lawyers, psychologists, and other sectors involved, aware that social robots can be highly beneficial for humans, but they could also be exploited for malicious purposes

The development of a human-robot interface for industrial collaborative system

Industrial robots have been identified as one of the most effective solutions for optimising output and quality within many industries. However, there are a number of manufacturing applications involving complex tasks and inconstant components which prohibit the use of fully automated solutions in the foreseeable future. A breakthrough in robotic technologies and changes in safety legislations have supported the creation of robots that coexist and assist humans in industrial applications. It has been broadly recognised that human-robot collaborative systems would be a realistic solution as an advanced production system with wide range of applications and high economic impact. This type of system can utilise the best of both worlds, where the robot can perform simple tasks that require high repeatability while the human performs tasks that require judgement and dexterity of the human hands. Robots in such system will operate as “intelligent assistants”. In a collaborative working environment, robot and human share the same working area, and interact with each other. This level of interface will require effective ways of communication and collaboration to avoid unwanted conflicts. This project aims to create a user interface for industrial collaborative robot system through integration of current robotic technologies. The robotic system is designed for seamless collaboration with a human in close proximity. The system is capable to communicate with the human via the exchange of gestures, as well as visual signal which operators can observe and comprehend at a glance. The main objective of this PhD is to develop a Human-Robot Interface (HRI) for communication with an industrial collaborative robot during collaboration in proximity. The system is developed in conjunction with a small scale collaborative robot system which has been integrated using off-the-shelf components. The system should be capable of receiving input from the human user via an intuitive method as well as indicating its status to the user ii effectively. The HRI will be developed using a combination of hardware integrations and software developments. The software and the control framework were developed in a way that is applicable to other industrial robots in the future. The developed gesture command system is demonstrated on a heavy duty industrial robot

Robot manipulation in human environments

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2007.Includes bibliographical references (p. 211-228).Human environments present special challenges for robot manipulation. They are often dynamic, difficult to predict, and beyond the control of a robot engineer. Fortunately, many characteristics of these settings can be used to a robot's advantage. Human environments are typically populated by people, and a robot can rely on the guidance and assistance of a human collaborator. Everyday objects exhibit common, task-relevant features that reduce the cognitive load required for the object's use. Many tasks can be achieved through the detection and control of these sparse perceptual features. And finally, a robot is more than a passive observer of the world. It can use its body to reduce its perceptual uncertainty about the world. In this thesis we present advances in robot manipulation that address the unique challenges of human environments. We describe the design of a humanoid robot named Domo, develop methods that allow Domo to assist a person in everyday tasks, and discuss general strategies for building robots that work alongside people in their homes and workplaces.by Aaron Ladd Edsinger.Ph.D

The distracted robot: what happens when artificial agents behave like us

In everyday life, we are frequently exposed to different smart technologies. From our smartphones to avatars in computer games, and soon perhaps humanoid robots, we are surrounded by artificial agents created to interact with us. Already during the design phase of an artificial agent, engineers often endow it with functions aimed to promote the interaction and engagement with it, ranging from its \u201ccommunicative\u201d abilities to the movements it produces. Still, whether an artificial agent that can behave like a human could boost the spontaneity and naturalness of interaction is still an open question. Even during the interaction with conspecifics, humans rely partially on motion cues when they need to infer the mental states underpinning behavior. Similar processes may be activated during the interaction with embodied artificial agents, such as humanoid robots. At the same time, a humanoid robot that can faithfully reproduce human-like behavior may undermine the interaction, causing a shift in attribution: from being endearing to being uncanny. Furthermore, it is still not clear whether individual biases and prior knowledge related to artificial agents can override perceptual evidence of human-like traits. A relatively new area of research emerged in the context of investigating individuals\u2019 reactions towards robots, widely referred to as Human-Robot Interaction (HRI). HRI is a multidisciplinary community that comprises psychologists, neuroscientists, philosophers as well as roboticists, and engineers. However, HRI research has been often based on explicit measures (i.e. self-report questionnaires, a-posteriori interviews), while more implicit social cognitive processes that are elicited during the interaction with artificial agents took second place behind more qualitative and anecdotal results. The present work aims to demonstrate the usefulness of combining the systematic approach of cognitive neuroscience with HRI paradigms to further investigate social cognition processes evoked by artificial agents. Thus, this thesis aimed at exploring human sensitivity to anthropomorphic characteristics of a humanoid robot's (i.e. iCub robot) behavior, based on motion cues, under different conditions of prior knowledge. To meet this aim, we manipulated the human-likeness of the behaviors displayed by the robot and the explicitness of instructions provided to the participants, in both screen-based and real-time interaction scenarios. Furthermore, we explored some of the individual differences that affect general attitudes towards robots, and the attribution of human-likeness consequently