Influence of auditory and visual modalities on skin potential response to robot motions

Hanajima, Naohiko; Fujimoto, Makoto; Hikita, Hiromitsu; Yamashita, Mitsuhisa

doi:10.1109/iros.2004.1389563

Cited by 5 publications

(5 citation statements)

References 10 publications

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“…Industrial manipulators constitute the type of robot on which the largest number of papers were written on perceived safety in pHRI. Earlier works used standard industrial manipulators, and precisely CRS A460 [20,21,[23][24][25], Mitsubishi Movemaster RM-501 [18,19,22], ABB IRB-120 [29,31], Comau SMART SiX [27], Yaskawa MOTOMAN-K10S and SONY SRX-410 [28]. More recent papers, instead, started using collaborative robots: KUKA LBR iiwa [35,38,43], Kinova MICO [33], UR3 [44], UR5 [39], UR10, [30], Sawyer [45], and Franka Emika Panda [42].…”

Section: Overview On Industrial Manipulatorsmentioning

confidence: 99%

“…In addition to the previous categorization, papers [17, 20, 21, 23-26, 28, 29, 31-33, 35, 36, 38-40] focused on finding a connection between perceived safety, robot speed, and relative distance between human and robot, with [27,30,40] having an explicit focus on motion prediction. The human attitude toward robot position and approach direction was studied in [18,25]. Finally, the effect of visibility/audibility of the robot by the human subjects were analyzed in [18,22].…”

Section: Overview On Industrial Manipulatorsmentioning

confidence: 99%

“…The human attitude toward robot position and approach direction was studied in [18,25]. Finally, the effect of visibility/audibility of the robot by the human subjects were analyzed in [18,22].…”

Section: Overview On Industrial Manipulatorsmentioning

confidence: 99%

See 2 more Smart Citations

Perceived Safety in Physical Human Robot Interaction -- A Survey

Rubagotti¹,

Tusseyeva²,

Baltabayeva³

et al. 2021

Preprint

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This review paper focuses on different aspects of perceived safety for a number of autonomous physical systems. This is a major aspect of robotics research, as more and more applications allow human and autonomous systems to share their space, with crucial implications both on safety and on its perception. The alternative terms used to express related concepts (e.g., psychological safety, trust, comfort, stress, fear, and anxiety) are listed and explained. Then, the available methods to assess perceived safety (i.e., questionnaires, physiological measurements, behavioral assessment, and direct input devices) are described. Six categories of autonomous systems are considered (industrial manipulators, mobile robots, mobile manipulators, humanoid robots, drones, and autonomous vehicles), providing an overview of the main themes related to perceived safety in the specific domain, a description of selected works, and an analysis of how motion and characteristics of the system influence the perception of safety. The survey also discusses experimental duration and location of the reviewed papers as well as identified trends over time.

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Section: Overview On Industrial Manipulatorsmentioning

confidence: 99%

Section: Overview On Industrial Manipulatorsmentioning

confidence: 99%

See 1 more Smart Citation

Perceived Safety in Physical Human Robot Interaction -- A Survey

Rubagotti¹,

Tusseyeva²,

Baltabayeva³

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…Our previous work indicated that actuation noise come from the robots tended to raise the sympathetic nerve system (SNS) response of the heart rate variability (HRV) [4]. In another experiment we used electrodermal activity (EDA) to evaluate the SNS response [1] for the reason that HRV analysis which processed data in frequency domain claimed data acquisition for more than 25 seconds. Alternatively, the signals related to EDA respond to the stimulus instantaneously.…”

Section: Introductionmentioning

confidence: 99%

A motion rule for human-friendly robots based on electrodermal activity investigations and its application to mobile robot

Hanajima

Goto

Ohta

et al. 2005

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper investigates impressions on the robot motion based on EDA experiments, deduces a motion rule for human-friendly robots from the investigations, and applies it to a mobile robot experimental apparatus. In our previous work, it was suggested that actuation noise come from the robots tended to raise the sympathetic nerve system (SNS) response of the heart rate variability. In another experiment it is observed that blocking out either the sound or the sight attenuated the electrodermal activity (EDA), which reflects the SNS, to the robot motion. In the present work, the experiment was designed not so as to avoid the influence of the habituation differently from the previous experiments, which was the significant factor contributing to reducing the EDA responses. As a result of statistical analysis, it was concluded that the present work supported the result of the previous work. Based on these investigations, we deduced the motion rule for human-friendly robots from this investigation, that robots must reduce their motion speed in the immediate vicinity of humans.We constructed the experimental setup that a mobile robot approached human with its speed decreased in conformity with the rule. To estimate the distance from the human, the skin color detection and depth-from-focus techniques were applied to a monocular color video camera system with pan/tilt/zoom operation. The experimental result showed that a proper choice of commands could perform the robot motion to reduce its speed in the immediate vicinity of the human.

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“…Our previous work indicated that actuation noise from the robots tended to raise sympathetic nervous system (SNS) response of heart rate variability (HRV) [12]. In another experiment we used electrodermal activity (EDA) to evaluate SNS response [13] because the HRV analysis of data in the frequency domain claimed data acquisition for more than 25 seconds. Alternatively, the signals related to EDA respond to the stimulus instantaneously.…”

Section: Introductionmentioning

confidence: 99%

Investigation of impressions for approach motion of a mobile robot based on psychophysiological analysis

Hanajima

Ohta

Hikita

et al.

ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005.

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This paper investigates impressions of approach motions of a mobile robot based on psychophysiological analysis. In one of our previous studies, we suggested that actuation noise caused by the robots tended to raise the sympathetic nervous system (SNS) response of heart rate variability. In another experiment it was observed that blocking out either the sound or the sight of the robot motion attenuated the electrodermal activity (EDA), which reflects the SNS. From these investigations, one candidate for motion rules for humanfriendly robots was deduced such that robots must reduce their motion speed in the immediate vicinity of human. To confirm validity of the motion rule, we constructed an experimental setup with a mobile robot approaching humans at several speeds, and investigated the human impressions by means of psychophysiological methods. The experimental results showed that robot motion adjacent to humans tended to increase EDA responses. We found especially that the approach motion tented to give stronger stimuli to humans than motions at a distance. The faster approach motion tended to increase EDA responses, but there was no significant statistical difference from the response to slower approach motion. From factor analysis of the subjective ratings two factors were extracted, which were interpreted as "relief of mind" and "observation on motion."

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Influence of auditory and visual modalities on skin potential response to robot motions

Cited by 5 publications

References 10 publications

Perceived Safety in Physical Human Robot Interaction -- A Survey

Perceived Safety in Physical Human Robot Interaction -- A Survey

A motion rule for human-friendly robots based on electrodermal activity investigations and its application to mobile robot

Investigation of impressions for approach motion of a mobile robot based on psychophysiological analysis

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