More Web Proxy on the site http://driver.im/

abstract

Virtual-reality as a Simulation Tool for Non-humanoid Social Robots

Authors:

Jonathan Giron,

Doron Friedman,

Oren Zuckerman,

Hadas ErelAuthors Info & Claims

CHI EA '20: Extended Abstracts of the 2020 CHI Conference on Human Factors in Computing Systems

Pages 1 - 9

https://doi.org/10.1145/3334480.3382893

Published: 25 April 2020 Publication History

Abstract

Evaluating the interaction between people and non-humanoid robots requires advanced physical prototyping, and in many cases is limited to lab setting with Wizard-of-Oz control. Virtual Reality (VR) was suggested as a simulation tool, allowing for fast, flexible and iterative design processes. In this controlled study, we evaluated whether VR is a valid platform for testing social interaction between people and non-humanoid robots. Our quantitative findings indicate that social interpretations associated with two types of gestures of a robotic object are similar in virtual and physical interactions with the robot, suggesting that the core aspects of social interaction with non-humanoid robots are preserved in a VR simulation. The impact of this work to the CHI community is in indicating the potential of VR as a platform for initial evaluations of social experiences with non-humanoid robots, including interaction studies that involve different facets of the social experience.

References

[1]

Lucy Anderson-Bashan, Benny Megidish, Hadas Erel, Iddo Wald, Guy Hoffman, Oren Zuckerman, and Andrey Grishko. 2018. The Greeting Machine: An Abstract Robotic Object for Opening Encounters. In 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). IEEE, 595--602.

[2]

Christoph Bartneck, Dana Kulic, Elizabeth Croft, and Susana Zoghbi. 2009. Measurement instruments for the anthropomorphism, animacy, likeability, perceived intelligence, and perceived safety of robots. International journal of social robotics 1, 1 (2009), 71--81.

[3]

Jim Blascovich, Jack Loomis, Andrew C Beall, Kimberly R Swinth, Crystal L Hoyt, and Jeremy N Bailenson. 2002. Immersive virtual environment technology as a methodological tool for social psychology. Psychological Inquiry 13, 2 (2002), 103--124.

[4]

Mason Bretan and Gil Weinberg. 2014. Chronicles of a Robotic Musical Companion. In NIME. 315--318.

[5]

Kerstin Dautenhahn. 2007. Methodology & themes of human-robot interaction: A growing research field. International Journal of Advanced Robotic Systems 4, 1 (2007), 15.

[6]

Kerstin Dautenhahn, Michael Walters, Sarah Woods, Kheng Lee Koay, Chrystopher L Nehaniv, A Sisbot, Rachid Alami, and Thierry Siméon. 2006. How may I serve you?: A robot companion approaching a seated person in a helping context. In Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction. ACM, 172--179.

Digital Library

[7]

Brian R Duffy. 2003. Anthropomorphism and the social robot. Robotics and autonomous systems 42, 3--4 (2003), 177--190.

[8]

Hadas Erel, Tzachi Shem Tov, Yoav Kessler, and Oren Zuckerman. 2019. Robots are Always Social: Robotic Movements are Automatically Interpreted as Social Cues. In Extended Abstracts of the 2019 CHI Conference on Human Factors in Computing Systems. ACM, LBW0245.

Digital Library

[9]

Terrence Fong, Illah Nourbakhsh, and Kerstin Dautenhahn. 2003. A survey of socially interactive robots. Robotics and autonomous systems 42, 3--4 (2003), 143--166.

[10]

Guy Hoffman and Wendy Ju. 2014. Designing robots with movement in mind. Journal of Human-Robot Interaction 3, 1 (2014), 91--122.

Digital Library

[11]

Kenji Inoue, Seri Nonaka, Yoshihiro Ujiie, Tomohito Takubo, and Tatsuo Arai. 2005. Comparison of human psychology for real and virtual mobile manipulators. In ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005. IEEE, 73--78.

[12]

Harold Jeffreys. 1998. The theory of probability. OUP Oxford.

[13]

Wendy Ju and Leila Takayama. 2009. Approachability: How people interpret automatic door movement as gesture. International Journal of Design 3, 2 (2009), 1--10.

[14]

Siddartha Khastgir, Stewart Birrell, Gunwant Dhadyalla, and Paul Jennings. 2015. Development of a drive-in driver-in-the-loop fully immersive driving simulator for virtual validation of automotive systems. In 2015 IEEE 81st Vehicular Technology Conference (VTC Spring). IEEE, 1--4.

[15]

Rui Li, Marc van Almkerk, Sanne van Waveren, Elizabeth Carter, and Iolanda Leite. 2019. Comparing human-robot proxemics between virtual reality and the real world. In 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI). IEEE, 431--439.

[16]

Jonathan Love, R Selker, M Marsman, T Jamil, D Dropmann, AJ Verhagen, and EJ Wagenmakers. 2015. JASP (Version 0.7)[computer software]. Amsterdam, the netherlands: Jasp project (2015).

[17]

Nadine E Miner and Sharon A Stansfield. 1994. An interactive virtual reality simulation system for robot control and operator training. In Proceedings of the 1994 IEEE International Conference on Robotics and Automation. IEEE, 1428--1435.

[18]

Alexis Paljic. 2017. Ecological Validity of Virtual Reality: Three Use Cases. In International Conference on Image Analysis and Processing. Springer, 301--310.

[19]

Laurel D Riek. 2012. Wizard of oz studies in HRI: A systematic review and new reporting guidelines. Journal of Human-Robot Interaction 1, 1 (2012), 119--136.

Digital Library

[20]

Azadeh Shariati, Mojtaba Shahab, Ali Meghdari, Ali Amoozandeh Nobaveh, Raman Rafatnejad, and Behrad Mozafari. 2018. Virtual Reality Social Robot Platform: A Case Study on Arash Social Robot. In International Conference on Social Robotics. Springer, 551--560.

[21]

David Sirkin, Brian Mok, Stephen Yang, and Wendy Ju. 2015. Mechanical ottoman: how robotic furniture offers and withdraws support. In Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction. ACM, 11--18.

Digital Library

[22]

Mel Slater and Maria V Sanchez-Vives. 2016. Enhancing our lives with immersive virtual reality. Frontiers in Robotics and AI 3 (2016), 74.

[23]

Daniele Sportillo, Alexis Paljic, Mehdi Boukhris, Philippe Fuchs, Luciano Ojeda, and Vincent Roussarie. 2017. An immersive Virtual Reality system for semi-autonomous driving simulation: A comparison between realistic and 6-DoF controller-based interaction. In Proceedings of the 9th International Conference on Computer and Automation Engineering. 6--10.

Digital Library

[24]

Jan Sprenger. 2013. Testing a precise null hypothesis: The case of Lindley's paradox. Philosophy of Science 80, 5 (2013), 733--744.

[25]

Frank Steinicke, Gerd Bruder, Luv Kohli, Jason Jerald, and Klaus Hinrichs. 2008. Taxonomy and implementation of redirection techniques for ubiquitous passive haptic feedback. In 2008 International Conference on Cyberworlds. IEEE, 217--223.

Digital Library

[26]

Hamish Tennent, Dylan Moore, and Wendy Ju. 2018. Character actor: Design and evaluation of expressive robot car seat motion. Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 1, 4 (2018), 165.

Digital Library

[27]

David Watson, Lee Anna Clark, and Auke Tellegen. 1988. Development and validation of brief measures of positive and negative affect: the PANAS scales. Journal of personality and social psychology 54, 6 (1988), 1063.

[28]

Vincent Weistroffer, Alexis Paljic, Philippe Fuchs, Olivier Hugues, Jean-Paul Chodacki, Pascal Ligot, and Alexandre Morais. 2014. Assessing the acceptability of human-robot co-presence on assembly lines: A comparison between actual situations and their virtual reality counterparts. In The 23rd IEEE International Symposium on Robot and Human Interactive Communication. IEEE, 377--384.

[29]

Bob G Witmer and Michael J Singer. 1998. Measuring presence in virtual environments: A presence questionnaire. Presence 7, 3 (1998), 225--240.

Digital Library

[30]

Cristina Zaga, Roelof AJ de Vries, Jamy Li, Khiet P Truong, and Vanessa Evers. 2017. A simple nod of the head: The effect of minimal robot movements on children's perception of a low-anthropomorphic robot. In Proceedings of the 2017 CHI conference on human factors in computing systems. ACM, 336--341.

Digital Library

Cited By

Rozendaal MVroon JBleeker M(2024)Enacting Human–Robot Encounters with Theater Professionals on a Mixed Reality StageACM Transactions on Human-Robot Interaction10.1145/367818614:1(1-25)Online publication date: 28-Nov-2024
https://dl.acm.org/doi/10.1145/3678186
Arntz AHelgert AStraßmann CEimler S(2024)Enhancing Human-Robot Interaction Research by Using a Virtual Reality Lab Approach2024 IEEE International Conference on Artificial Intelligence and eXtended and Virtual Reality (AIxVR)10.1109/AIxVR59861.2024.00058(340-344)Online publication date: 17-Jan-2024
https://doi.org/10.1109/AIxVR59861.2024.00058
Bretin RCross EKhamis M(2024)Co-existing with Drones: A Virtual Exploration of Proxemic Behaviours and Users’ Insights on Social DronesInternational Journal of Social Robotics10.1007/s12369-024-01111-716:3(547-567)Online publication date: 6-Mar-2024
https://doi.org/10.1007/s12369-024-01111-7
Show More Cited By

Index Terms

Virtual-reality as a Simulation Tool for Non-humanoid Social Robots
1. Human-centered computing
  1. Human computer interaction (HCI)
    1. Interaction paradigms
      1. Virtual reality

Recommendations

Designing Non-Verbal Humorous Gestures for a Non-Humanoid Robot
CHI EA '22: Extended Abstracts of the 2022 CHI Conference on Human Factors in Computing Systems

Humor has various positive implications for our daily lives, and it has shown to improve human-robot interaction as well. To date, humor has been applied to robots that mimic human behavior thus missing out on improving interactions with the non-...
Exploiting virtual reality and the robot operating system to remote-control a humanoid robot
Abstract
The availability of frameworks and applications in the robotic domain fostered in the last years a spread in the adoption of robots in daily life activities. Many of these activities include the robot teleoperation, i.e. controlling its movements ...
Design of Virtual Reality for Humanoid Robots with Inspiration from Video Games
Virtual, Augmented and Mixed Reality. Applications and Case Studies
Abstract
Advances in robotics have led to breakthroughs in several areas, including the development of humanoid robots. There are now several different models of humanoid robots available, but operating them remains a difficult challenge. Current operator ...

Comments

Please enable JavaScript to view thecomments powered by Disqus.

Information & Contributors

Information

Published In

cover image ACM Conferences

CHI EA '20: Extended Abstracts of the 2020 CHI Conference on Human Factors in Computing Systems

April 2020

4474 pages

ISBN:9781450368193

DOI:10.1145/3334480

General Chairs:
Regina Bernhaupt
Eindhoven University of Technology, Netherlands
,
Florian 'Floyd' Mueller
Monash University, Australia
,
David Verweij
Newcastle University, UK
,
Josh Andres
RMIT, Australia
,
Program Chairs:
Joanna McGrenere
University of British Columbia, Canada
,
Andy Cockburn
University of Canterbury, New Zealand
,
Ignacio Avellino
University of Maryland Baltimore County, USA
,
Alix Goguey
Grenoble Alpes University, France
,
Pernille Bjørn
University of Copenhagen, Denmark
,
Shengdong (Shen) Zhao
National University of Singapore, Singapore
,
Briane Paul Samson
Future University Hakodate, Japan & De La Salle University, Philippines
,
Rafal Kocielnik
University of Washington, USA

Copyright © 2020 Owner/Author.

Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.

Sponsors

SIGCHI: ACM Special Interest Group on Computer-Human Interaction

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 25 April 2020

Check for updates

Author Tags

Qualifiers

Abstract

Funding Sources

The Israel Ministry of Science and Technology

Conference

CHI '20

Sponsor:

SIGCHI

CHI '20: CHI Conference on Human Factors in Computing Systems

April 25 - 30, 2020

HI, Honolulu, USA

Acceptance Rates

Overall Acceptance Rate 6,164 of 23,696 submissions, 26%

Upcoming Conference

CHI 2025

Sponsor:
sigchi

ACM CHI Conference on Human Factors in Computing Systems

April 26 - May 1, 2025

Yokohama , Japan

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

9
Total Citations
View Citations
390
Total Downloads

Downloads (Last 12 months)48
Downloads (Last 6 weeks)2

Reflects downloads up to 24 Dec 2024

Other Metrics

View Author Metrics

Citations

Cited By

Rozendaal MVroon JBleeker M(2024)Enacting Human–Robot Encounters with Theater Professionals on a Mixed Reality StageACM Transactions on Human-Robot Interaction10.1145/367818614:1(1-25)Online publication date: 28-Nov-2024
https://dl.acm.org/doi/10.1145/3678186
Arntz AHelgert AStraßmann CEimler S(2024)Enhancing Human-Robot Interaction Research by Using a Virtual Reality Lab Approach2024 IEEE International Conference on Artificial Intelligence and eXtended and Virtual Reality (AIxVR)10.1109/AIxVR59861.2024.00058(340-344)Online publication date: 17-Jan-2024
https://doi.org/10.1109/AIxVR59861.2024.00058
Bretin RCross EKhamis M(2024)Co-existing with Drones: A Virtual Exploration of Proxemic Behaviours and Users’ Insights on Social DronesInternational Journal of Social Robotics10.1007/s12369-024-01111-716:3(547-567)Online publication date: 6-Mar-2024
https://doi.org/10.1007/s12369-024-01111-7
Zhiyu SKoh HAguiar CShihang JWang Y(2023)Could Socially Interactive Architectural Robotics Promote Restorative Environments?International Journal of Social Robotics10.1007/s12369-023-01040-x16:5(919-936)Online publication date: 25-Aug-2023
https://doi.org/10.1007/s12369-023-01040-x
Bretin RKhamis MCross E(2023)“Do I Run Away?”: Proximity, Stress and Discomfort in Human-Drone Interaction in Real and Virtual EnvironmentsHuman-Computer Interaction – INTERACT 202310.1007/978-3-031-42283-6_29(525-551)Online publication date: 28-Aug-2023
https://dl.acm.org/doi/10.1007/978-3-031-42283-6_29
Bretin RCross EKhamis M(2022)Co-existing With a Drone: Using Virtual Reality to Investigate the Effect of the Drone’s Height and Cover Story on Proxemic BehavioursExtended Abstracts of the 2022 CHI Conference on Human Factors in Computing Systems10.1145/3491101.3519750(1-9)Online publication date: 27-Apr-2022
https://dl.acm.org/doi/10.1145/3491101.3519750
Babel FVogt AHock PKraus JAngerer FSeufert TBaumann M(2022)Step Aside! VR-Based Evaluation of Adaptive Robot Conflict Resolution Strategies for Domestic Service RobotsInternational Journal of Social Robotics10.1007/s12369-021-00858-714:5(1239-1260)Online publication date: 2-Feb-2022
https://doi.org/10.1007/s12369-021-00858-7
Belmonte LGarcía AMorales Rde la Vara JLópez de la Rosa FFernández-Caballero A(2021)Feeling of Safety and Comfort towards a Socially Assistive Unmanned Aerial Vehicle That Monitors People in a Virtual HomeSensors10.3390/s2103090821:3(908)Online publication date: 29-Jan-2021
https://doi.org/10.3390/s21030908
Ruggiero GRapuano MCartaud ACoello YIachini T(2021)Defensive functions provoke similar psychophysiological reactions in reaching and comfort spacesScientific Reports10.1038/s41598-021-83988-211:1Online publication date: 4-Mar-2021
https://doi.org/10.1038/s41598-021-83988-2

View Options

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

View options

PDF

View or Download as a PDF file.

eReader

View online with eReader.

HTML Format

View this article in HTML Format.

Media

Figures

Other

Tables

View Table of Contents