A Laser Projection System for Robot Intention Communication and Human Robot Interaction

Wengefeld, Tim; Hochemer, Dominik; Lewandowski, Benjamin; Köhler, Mona; Beer, Manuel; Groß, Horst–Michael

doi:10.1109/ro-man47096.2020.9223517

Cited by 10 publications

(11 citation statements)

References 26 publications

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“…Or, in contrast, instructions can be world-centered instructions when they stand in relation to the world (e.g., a robot instructing a human to push a button on a wall to open an elevator so that it can continue its movement [128]).…”

Section: Definitionmentioning

confidence: 99%

“…Consequently, information unregistered in space may be less intuitive, and thus researchers have explored different combinations of information to mitigate that. Andersen et al as well as Wengefeld et al showed that combining multiple types of intent information that are unregistered in space (e.g., text description and symbol icons) helps to effectively communicate motion intent to the user [3,128]. On the other hand, Staudte and Crocker found that combining both categories (registered & unregistered), which in their case involved a robot gazing at a specific object while a verbal description of the object played, leads to successful perception and understanding by the user [111].…”

Section: Intent Informationmentioning

confidence: 99%

“…For registered in space, we see an uneven distribution for both subcategories. Intent information classified as local is mostly communicated as continuous information (50 intents; e.g., using SAR to continuously highlight an area in a workplace where the robot will be active during its movements and action [3]) instead of discrete (24 intents; e.g., using SAR to highlight a button on a wall that must be pushed by a human for the robot to continue its movement [128]). We think that robot motion likely relates to a continuous event because it is meant to happen over time and takes place continuously.…”

Section: Crossmentioning

confidence: 99%

“…The robot-attached subcategory requires some additional hardware to be mounted to the robot (e.g., SAR, LED, or displays). For example, Wengefeld et al attach a laser projection system to the robot and thereby communicate various types of intents, including state, motion, and instruction [128].…”

Section: Intent Locationmentioning

confidence: 99%

See 3 more Smart Citations

How to Communicate Robot Motion Intent: A Scoping Review

Pascher

Gruenefeld

Schneegaß

et al. 2023

Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems

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a) Motion [120] (b) Attention [67] (c) State [117] (d) Instruction [128] Fig. 1. (a) Robot motion intent: The robot communicates its intended motion (e.g., a trajectory of the robot's intended movement path is visualized in Augmented Reality [120]). Furthermore, our analysis revealed three additional types of intent that complement robot motion intents. (b) Attention: A robot aims to catch the user's attention for subsequent movement activity (e.g., by moving its whole body [67]). (c) State: A robot communicates its state so that a human can predict future motions and identify potential conflicts before they occur (e.g., the robot communicates its movement activity with the help of a colored LED stripe [117]). (d) Instruction: The robot aims to provide specific instructions so that the human can assist further movement (e.g., by requesting to open a door [128]).Robots are becoming increasingly omnipresent in our daily lives, supporting us and carrying out autonomous tasks. In Human-Robot Interaction, human actors benefit from understanding the robot's motion intent to avoid task failures and foster collaboration. Finding effective ways to communicate this intent to users has recently received increased research interest. However, no common language has been established to systematize robot motion intent. This work presents a scoping review aimed at unifying existing knowledge.Based on our analysis, we present an intent communication model that depicts the relationship between robot and human through different intent dimensions (intent type, intent information, intent location). We discuss these different intent dimensions and their interrelationships with different kinds of robots and human roles. Throughout our analysis, we classify the existing research literature along our intent communication model, allowing us to identify key patterns and possible directions for future research.

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Section: Definitionmentioning

confidence: 99%

Section: Intent Informationmentioning

confidence: 99%

Section: Crossmentioning

confidence: 99%

Section: Intent Locationmentioning

confidence: 99%

See 2 more Smart Citations

How to Communicate Robot Motion Intent: A Scoping Review

Pascher

Gruenefeld

Schneegaß

et al. 2023

Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems

View full text Add to dashboard Cite

show abstract

“…Researchers propose using SAP to scan for the best projection walls [32], allowing humans to better perceive the augmented content. Other studies propose SAP's usage to guide users reaching their destination by providing visual clues over different surfaces [33,34]. Following the same concept, human-aware path planning has been proposed for a ground robot that can navigate to a target position and avoid harming users if they stand in the projector's throw field [35].…”

Section: Mobility Levels Of Projection-based Armentioning

confidence: 99%

A UWB-Driven Self-Actuated Projector Platform for Interactive Augmented Reality Applications

et al. 2021

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With the rapid development of interactive technology, creating systems that allow users to define their interactive envelope freely and provide multi-interactive modalities is important to build up an intuitive interactive space. We present an indoor interactive system where a human can customize and interact through a projected screen utilizing the surrounding surfaces. An ultra-wideband (UWB) wireless sensor network was used to assist human-centered interaction design and navigate the self-actuated projector platform. We developed a UWB-based calibration algorithm to facilitate the interaction with the customized projected screens, where a hand-held input device was designed to perform mid-air interactive functions. Sixteen participants were recruited to evaluate the system performance. A prototype level implementation was tested inside a simulated museum environment, where a self-actuated projector provides interactive explanatory content for the on-display artifacts under the user’s command. Our results depict the applicability to designate the interactive screen efficiently indoors and interact with the augmented content with reasonable accuracy and relatively low workload. Our findings also provide valuable user experience information regarding the design of mobile and projection-based augmented reality systems, with the ability to overcome the limitations of other conventional techniques.

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