Name
Title | ||
|---|---|---|
Meet me where i'm gazing: how shared attention gaze affects human-robot handover timing |
Abstract | ||
|---|---|---|
In this paper we provide empirical evidence that using humanlike gaze cues during human-robot handovers can improve the timing and perceived quality of the handover event. Handovers serve as the foundation of many human-robot tasks. Fluent, legible handover interactions require appropriate nonverbal cues to signal handover intent, location and timing. Inspired by observations of human-human handovers, we implemented gaze behaviors on a PR2 humanoid robot. The robot handed over water bottles to a total of 102 naïve subjects while varying its gaze behaviour: no gaze, gaze designed to elicit shared attention at the handover location, and the shared attention gaze complemented with a turn-taking cue. We compared subject perception of and reaction time to the robot-initiated handovers across the three gaze conditions. Results indicate that subjects reach for the offered object significantly earlier when a robot provides a shared attention gaze cue during a handover. We also observed a statistical trend of subjects preferring handovers with turn-taking gaze cues over the other conditions. Our work demonstrates that gaze can play a key role in improving user experience of human-robot handovers, and help make handovers fast and fluent. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1145/2559636.2559656 | HRI |
Keywords | Field | DocType |
human-human handover,handover location,human-robot task,human-robot handover timing,shared attention,pr2 humanoid robot,handover event,handover intent,legible handover interaction,human-robot handover,robot-initiated handover,handover,nonverbal communication | User experience design,Gaze,Simulation,Computer science,Robot kinematics,Human–computer interaction,Artificial intelligence,Robot,Robotics,Handover,Human–robot interaction,Humanoid robot | Conference |
ISSN | Citations | PageRank |
2167-2121 | 41 | 1.25 |
References | Authors | |
25 | 8 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| AJung Moon | 1 | 60 | 3.37 |
| Daniel M. Troniak | 2 | 44 | 2.36 |
| Brian T. Gleeson | 3 | 148 | 10.35 |
| Matthew K.X.J. Pan | 4 | 63 | 5.63 |
| Minhua Zheng | 5 | 60 | 8.72 |
| Benjamin A. Blumer | 6 | 44 | 1.63 |
| Karon E. MacLean | 7 | 1568 | 132.13 |
| Elizabeth A. Croft | 8 | 714 | 56.31 |