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 turntaking 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.
In this paper, we investigate the use of a robot's gaze to improve the timing and subjective experience of faceto-face robot-to-human handovers. Based on observations of human gaze behaviors during face-to-face human-human handovers, we implement various gaze behaviors on a PR2 humanoid robot. We conducted two consecutive robot-tohuman handover studies. Results show that when the robot continually gazes at a projected handover position while handing over an object, the human receivers reach for the object significantly earlier than when the robot looks down, away from the handover location; further, when the robot continually gazes at the receiver's face instead of the handover position, the receivers reach for the object even earlier. When the robot-instead of continually gazing at a location-transitions its gaze from the handover position to the receivers' face, or vice versa, the receivers' reach time did not improve; however, the receivers perceive these gaze transitions to better communicate handover timing than continual gazes. Finally, the receivers perceive the robot to be more likeable and anthropomorphic when it looks at their B Minhua Zheng face than when it does not. Findings from our studies indicate that robot's use of gaze can help improve both fluency and subjective experience of the robot-to-human handover interactions.
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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