Towards the Safety of Human-in-the-Loop Robotics: Challenges and Opportunities for Safety Assurance of Robotic Co-Workers

The success of the human-robot co-worker team in a flexible manufacturing environment where robots learn from demonstration heavily relies on the correct and safe operation of the robot. How this can be achieved is a challenge that requires addressing both technical as well as human-centric research questions. In this paper we discuss the state of the art in safety assurance, existing as well as emerging standards in this area, and the need for new approaches to safety assurance in the context of learning machines. We then focus on robotic learning from demonstration, the challenges these techniques pose to safety assurance and indicate opportunities to integrate safety considerations into algorithms "by design". Finally, from a human-centric perspective, we stipulate that, to achieve high levels of safety and ultimately trust, the robotic co-worker must meet the innate expectations of the humans it works with. It is our aim to stimulate a discussion focused on the safety aspects of human-in-the-loop robotics, and to foster multidisciplinary collaboration to address the research challenges identified

The built environment and its patterns – a view from the vision sciences

Visual patterns are all around us. Despite overwhelming evidence from the visual sciences that some visual patterns, in particular highly geometric and repetitive patterns, can be aversive, patterns in our visual environment are rarely considered with regard to their impact on brain, behaviour, and well-being. Yet, attempts toward developing healthier, more inclusive cities recently attracted negative headlines, for example for their use of dazzling floor patterns in public spaces that lead to discomfort, avoidance behaviours and falls, particularly in older citizens. Recent developments in analysis now allow us to measure and predict adverse effects of patterns in the real world. Here, we show that aversive patterns are rare in natural scenes but prevalent in modern man-made settings. They occur at every spatial scale, partly because of modular construction, partly because of artistic expression. We review the evidence that visual discomfort and other adverse neurological and behavioural effects arise from aversive patterns, and hypothesise that this is because of the way our visual system has evolved to analyse scenes from nature. We finish our review with an outlook for future research and by proposing some simple ways of preventing adverse effects from visual environments, using urban design as example

How visual perceptual grouping influences foot placement

Everybody would agree that vision guides locomotion; but how does vision influence choice when there are different solutions for possible foot placement? We addressed this question by investigating the impact of perceptual grouping on foot placement in humans. Participants performed a stepping stone task in which pathways consisted of target stones in a spatially regular path of foot falls and visual distractor stones in their proximity. Target and distractor stones differed in shape and colour so that each subset of stones could be easily grouped perceptually. In half of the trials, one target stone swapped shape and colour with a distractor in its close proximity. We show that in these ‘swapped’ conditions, participants chose the perceptually groupable, instead of the spatially regular, stepping location in over 40% of trials, even if the distance between perceptually groupable steps was substantially larger than normal step width/length. This reveals that the existence of a pathway that could be traversed without spatial disruption to periodic stepping is not sufficient to guarantee participants will select it and suggests competition between different types of visual input when choosing foot placement. We propose that a bias in foot placement choice in favour of visual grouping exists as, in nature, sudden changes in visual characteristics of the ground increase the uncertainty for stability

Efficiency of speech and iconic gesture integration for robotic and human communicators - a direct comparison

© 2015 IEEE. Co-verbal gestures are an important part of human communication, improving its efficiency for information conveyance. A key component of such improvement is the observer's ability to integrate information from the two communication channels, speech and gesture. Whether such integration also occurs when the multi-modal communication information is produced by a humanoid robot, and whether it is as efficient as for a human communicator, is an open question. Here, we present an experiment which, using a fully within subjects design, shows that for a range of iconic gestures, speech and gesture integration occurs with similar efficiency for human and for robot communicators. The gestures for this study were produced on an Aldebaran Robotics NAO robot platform with a Kinect based tele-operation system. We also show that our system is able to produce a range of iconic gestures that are understood by participants in unimodal (gesture only) communication, as well as being efficiently integrated with speech. Hence, we demonstrate the utility of iconic gestures for robotic communicators

A method for detecting characteristic patterns in social interactions with an application to handover interactions

Social interactions are a defining behavioural trait of social animals. Discovering characteristic patterns in the display of such behaviour is one of the fundamental endeavours in behavioural biology and psychology, as this promises to facilitate the general understanding, classification, prediction and even automation of social interactions. We present a novel approach to study characteristic patterns, including both sequential and synchronous actions in social interactions. The key concept in our analysis is to represent social interactions as sequences of behavioural states and to focus on changes in behavioural states shown by individuals rather than on the duration for which they are displayed. We extend techniques from data mining and bioinformatics to detect frequent patterns in these sequences and to assess how these patterns vary across individuals or changes in interaction tasks. To illustrate our approach and to demonstrate its potential, we apply it to novel data on a simple physical interaction, where one person hands a cup to another person. Our findings advance the understanding of handover interactions, a benchmark scenario for social interactions. More generally, we suggest that our approach permits a general perspective for studying social interactions

Treacherous pavements:Paving slab patterns modify intended walking directions

Current understanding in locomotion research is that, for humans, navigating natural environments relies heavily on visual input; in contrast, walking on even ground in man-made obstacle and hazard-free environments is so highly automated that visual information derived from floor patterns should not affect locomotion and in particular have no impact on the direction of travel. The vision literature on motion perception would suggest otherwise; specifically that oblique floor patterns may induce substantial veering away from the intended direction of travel due to the so-called aperture problem. Here, we tested these contrasting predictions by letting participants walk over commonly encountered floor patterns (paving slabs) and investigating participants' ability to walk "straight ahead" for different pattern orientations. We show that, depending on pattern orientation, participants veered considerably over the measured travel distance (up to 8% across trials), in line with predictions derived from the literature on motion perception. We argue that these findings are important to the study of locomotion, and, if also observed in real world environments, might have implications for architectural design

Effects of first exposure to plain cigarette packaging on smoking behaviour and attitudes: A randomised controlled study

Background: Plain packaging requires tobacco products to be sold in packs with a standard shape, method of opening and colour, leaving the brand name in a standard font and location. We ran a randomised controlled trial to investigate the impact of plain packaging on smoking behaviour and attitudes. Methods: In a parallel group randomised trial design, 128 daily smokers smoked cigarettes from their usual UK brand, or a plain Australian brand that was closely matched to their usual UK brand for 24hours. Primary outcomes were number of cigarettes smoked and volume of smoke inhaled per cigarette. Secondary outcomes were self-reported ratings of motivation to quit, cigarette taste, experience of using the pack, experience of smoking, attributes of the pack, perceptions of the health warning, changes in smoking behaviour, and views on plain packaging. Results: There was no evidence that pack type had an effect on either of the primary measures (ps > 0.279). However, smokers using plain cigarette packs rated the experience of using the pack more negatively (-0.52, 95% CI -0.82 to -0.22, p = 0.001), rated the pack attributes more negatively (-1.59, 95% CI -1.80 to -1.39, p < 0.001), and rated the health warning as more impactful (+0.51, 95% CI 0.24 to 0.78, p < 0.001). Conclusions: Plain cigarette packs reduce ratings of the experience of using the cigarette pack, and ratings of the pack attributes, and increase the self-perceived impact of the health warning, but do not change smoking behaviour, at least in the short term