research-article

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Design and impact of hesitation gestures during human-robot resource conflicts

Authors:

Chris A. C. Parker,

Elizabeth A. Croft,

H. F. Machiel Van der LoosAuthors Info & Claims

Journal of Human-Robot Interaction, Volume 2, Issue 3

Pages 18 - 40

https://doi.org/10.5898/JHRI.2.3.Moon

Published: 05 September 2013 Publication History

Abstract

In collaborative tasks, people often communicate using nonverbal gestures to coordinate actions. When two people reach for the same object at the same time, they often respond to an imminent potential collision with jerky halting hand motions that we term hesitation gestures. Successful implementation of such communicative conflict response behaviour onto robots can be useful. In a myriad of human-robot interaction contexts involving shared spaces and objects, this behaviour can provide a fast and effective means for robots to express awareness of conflict and cede right-of-way during collaborative work with users. Our previous work suggests that when a six-degree-of-freedom (6-DOF) robot traces a simplified trajectory of recorded human hesitation gestures, these robot motions are also perceived by humans as hesitation gestures. In this work, we present a characteristic motion profile derived from the recorded human hesitation motions, called the Acceleration-based Hesitation Profile (AHP). We test its efficacy to generate communicative hesitation responses by a robot in a fast-paced human-robot interaction experiment.

Compared to traditional abrupt stopping behaviours, we did not find sufficient evidence that the AHP-based robot responses improve human perception of the robot or human-robot task completion time. However, results from our in situ experiment suggest that subjects can recognize AHP-based robot responses as hesitations and distinguish them to be different from abrupt stopping behaviours.

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Cited By

Schömbs SPareek SGoncalves JJohal W(2024)Robot-Assisted Decision-Making: Unveiling the Role of Uncertainty Visualisation and EmbodimentProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642911(1-16)Online publication date: 11-May-2024
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Published In

cover image Journal of Human-Robot Interaction

Journal of Human-Robot Interaction Volume 2, Issue 3

September 2013

109 pages

EISSN:2163-0364

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Journal of Human-Robot Interaction Steering Committee

Publication History

Published: 05 September 2013

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Natural Sciences and Engineering Research Council of Canada
Canada Foundation for Innovation
UBC Institute for Computing, Information and Cognitive Systems

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Schömbs SPareek SGoncalves JJohal W(2024)Robot-Assisted Decision-Making: Unveiling the Role of Uncertainty Visualisation and EmbodimentProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642911(1-16)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3642911
Jain CBrown HKnight HGrollman DBroadbent EJu WSoh HWilliams T(2024)DRAWBOT: Making Everyday Objects InteractiveCompanion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3610978.3640607(554-558)Online publication date: 11-Mar-2024
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Hou YCheon EJung MGrollman DBroadbent EJu WSoh HWilliams T(2024)Power in Human-Robot InteractionProceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3610977.3634949(269-282)Online publication date: 11-Mar-2024
https://dl.acm.org/doi/10.1145/3610977.3634949
Urakami JSeaborn K(2023)Nonverbal Cues in Human–Robot Interaction: A Communication Studies PerspectiveACM Transactions on Human-Robot Interaction10.1145/357016912:2(1-21)Online publication date: 15-Mar-2023
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https://dl.acm.org/doi/10.1145/3418303
Moon AHashmi MLoos HCroft EBillard A(2021)Design of Hesitation Gestures for Nonverbal Human-Robot Negotiation of ConflictsACM Transactions on Human-Robot Interaction10.1145/341830210:3(1-25)Online publication date: 11-Jul-2021
https://dl.acm.org/doi/10.1145/3418302
Lee WSakashita MRicci EClaure HGuimbretière FJung M(2021)Interactive Vignettes: Enabling Large-Scale Interactive HRI Research2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)10.1109/RO-MAN50785.2021.9515376(1289-1296)Online publication date: 8-Aug-2021
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Xu ADudek G(2021)Maintaining efficient collaboration with trust-seeking robots2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS.2016.7759510(3312-3319)Online publication date: 11-Mar-2021
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Zhou TWachs J(2019)Spiking Neural Networks for early prediction in human–robot collaborationInternational Journal of Robotics Research10.1177/027836491987225238:14(1619-1643)Online publication date: 1-Dec-2019
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