[1]谢滨福,陶达,李世龙,等.基于交互情境因素的人与机器人交互体验[J].深圳大学学报理工版,2023,40(2):244-252.[doi:10.3724/SP.J.1249.2023.02244]
 XIE Binfu,TAO Da,LI Shilong,et al.The effects of situational factors on human-robot interaction experience[J].Journal of Shenzhen University Science and Engineering,2023,40(2):244-252.[doi:10.3724/SP.J.1249.2023.02244]
点击复制

基于交互情境因素的人与机器人交互体验()
分享到:

《深圳大学学报理工版》[ISSN:1000-2618/CN:44-1401/N]

卷:
第40卷
期数:
2023年第2期
页码:
244-252
栏目:
电子与信息科学
出版日期:
2023-03-15

文章信息/Info

Title:
The effects of situational factors on human-robot interaction experience
文章编号:
202302015
作者:
谢滨福 陶达 李世龙 任欣芫
深圳大学人因工程研究所,广东深圳518060
Author(s):
XIE Binfu TAO Da LI Shilong and REN Xinyuan
Institute of Human Factors and Ergonomics, Shenzhen University, Shenzhen 518060, Guangdong Province, P.R.China
关键词:
智能机器人人与机器人交互交互姿势交互距离反馈风格交互体验
Keywords:
intelligent robot human-robot interaction interaction posture interaction distance feedback style interaction experience
分类号:
TP242
DOI:
10.3724/SP.J.1249.2023.02244
文献标志码:
A
摘要:
系统定量地评估交互情境因素(交互距离、交互姿势和反馈风格)对于优化人与机器人的交互体验有着重要意义.采用三因子组内和组间混合设计的人因学实验,招募20名受试者以不同交互情境与机器人进行互动,并收集受试者的客观绩效、主观感知和眼动行为等交互体验指标,最后采用重复测量的方差分析处理实验数据.结果表明各交互情境因素下受试者客观绩效无差异,交互距离与反馈风格对受试者注视机器人次数占比有显著主效应和交互作用,交互距离与交互姿势对平均瞳孔直径存在交互作用,交互情境因素在交互方式接受度上有显著交互作用.研究结果可为机器人的情感表达部署、人机交互体验的优化策略提供参考依据.
Abstract:
Systematic and quantitative evaluation of interaction situational factors (i.e., interaction distance, interaction posture, and feedback style) are of great significance for the optimization of human-robot interaction (HRI) experience. Using human factors experiment with three-factor intra-group and inter-group mixed design, twenty subjects were recruited to interact with a robot in different interaction situations. Data on their behavioral performance, subjective perceptions and eye movement behavior were collected and processed by repeated measurement analysis of variance. The results show that the behavioral performance in HRI has no difference across the situational factors. Interaction distance and feedback style have the significant main effects and interaction effects on the proportion of fixation times. In addition, there exists an interaction effect on mean pupil diameter between interaction distance and posture. Moreover, three situational factors have significant interaction effects on user acceptance of interaction mode. The experimental observations provide the important implications for the design of robot emotion expression and for optimal strategies to improve human-robot interaction experience.

参考文献/References:

[1] SAUNDERSON S, NEJAT G. How robots influence humans: a survey of nonverbal communication in social human -robot interaction [J]. International Journal of Social Robotics, 2019, 11(4): 575-608.
[2] 刘逸伦,何倩鸿,王科盛.服务机器人行业发展现状分析[J].信息记录材料,2022,23(3):217-220.
LIU Yilun, HE Qianhong, WANG Kesheng. Analysis of the development status of the service robot industry [J]. Information Recording Materials, 2022, 23(3): 217-220.(in Chinese)
[3] G?RER B, SALAH A A, AKIN H L. An autonomous robotic exercise tutor for elderly people [J]. Autonomous Robots, 2017, 41(3): 657-678.
[4] LEI Xin, RAU P L P. Effect of robot tutor’s feedback valence and attributional style on learners [J]. International Journal of Social Robotics, 2021, 13(7): 1579-1597.
[5] CHANG C W, LEE J H, CHAO P Y, et al. Exploring the possibility of using humanoid robots as instructional tools for teaching a second language in primary school [J]. Educational Technology & Society, 2010, 13(2): 13-24.
[6] XIA Guangyu, TAY J, DANNENBERG R, et al. Autonomous robot dancing driven by beats and emotions of music [C]// Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 1. Richland, SC: International Foundation for Autonomous Agents and Multiagent Systems, 2012: 205-212.
[7] CHIDAMBARAM V, CHIANG Y H, MUTLU B. Designing persuasive robots: how robots might persuade people using vocal and nonverbal cues [C]// The 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI). Piscataway, USA: IEEE, 2012: 293-300.
[8] ROS R, BARONI I, DEMIRIS Y. Adaptive human -robot interaction in sensorimotor task instruction: from human to robot dance tutors [J]. Robotics and Autonomous Systems, 2014, 62(6): 707-720.
[9] LEICHTMANN B, NITSCH V. How much distance do humans keep toward robots? Literature review, meta-analysis, and theoretical considerations on personal space in human-robot interaction [J]. Journal of Environmental Psychology, 2020, 68: 101386.
[10] HOFFMAN G, VANUNU K. Effects of robotic companionship on music enjoyment and agent perception [C]// The 8th ACM/IEEE International Conference on Human-Robot Interaction. Piscataway, USA: IEEE, 2013: 317-324.
[11] ALY A, TAPUS A. A model for synthesizing a combined verbal and nonverbal behavior based on personality traits in human-robot interaction [C]// The 8th ACM/IEEE International Conference on Human-Robot Interaction. Piscataway, USA: IEEE, 2013: 325-332.
[12] HALL E T. The hidden dimension [M]. Garden City, USA: Anchor, 1966.
[13] BALDASSARE M. Human spatial behavior [J]. Annual Review of Sociology, 1978, 4(1): 29-56.
[14] UZZELL D, HORNE N. The influence of biological sex, sexuality and gender role on interpersonal distance [J]. British Journal of Social Psychology, 2006, 45(3): 579-597.
[15] WALTERS M L, DAUTENHAHN K, TE BOEKHORST R, et al. The influence of subjects’ personality traits on personal spatial zones in a human-robot interaction experiment [C]// IEEE International Workshop on Robot and Human Interactive Communication. Piscataway, USA: IEEE, 2005: 347-352.
[16] PACCHIEROTTI E, CHRISTENSEN H I, JENSFELT P. Evaluation of passing distance for social robots [C]// The 15th IEEE International Symposium on Robot and Human Interactive Communication. Piscataway, USA: IEEE, 2006: 315-320.
[17] SCHEFLEN A E. The significance of posture in communication systems [J]. Psychiatry, 1964, 27(4): 316-331.
[18] KOAY K L, SYRDAL D S, ASHGARI-OSKOEI M, et al. Social roles and baseline proxemic preferences for a domestic service robot [J]. International Journal of Social Robotics, 2014, 6(4): 469-488.
[19] PAPADOPOULOS F, K?STER D, CORRIGAN L J, et al. Do relative positions and proxemics affect the engagement in a human-robot collaborative scenario? [J]. Interaction Studies, 2016, 17(3): 321-347.
[20] KIM C, KIM D, YUAN Jiangmei, et al. Robotics to promote elementary education pre-service teachers’ STEM engagement, learning, and teaching [J]. Computers & Education, 2015, 91: 14-31.
[21] ALBRIGHT M D, LEVY P E. The effects of source credibility and performance rating discrepancy on reactions to multiple raters [J]. Journal of Applied Social Psychology, 1995, 25(7): 577-600.
[22] WANG M, BURLACU G, TRUXILLO D, et al. Age differences in feedback reactions: the roles of employee feedback orientation on social awareness and utility [J]. Journal of Applied Psychology, 2015, 100(4): 1296-1308.
[23] MORRAN D K, ROBISON F F, STOCKTON R. Feedback exchange in counseling groups: an analysis of message content and receiver acceptance as a function of leader versus member delivery, session, and valence [J]. Journal of Counseling Psychology, 1985, 32(1): 57-67.
[24] AKALIN N, KRISTOFFERSSON A, LOUTFI A. The influence of feedback type in robot-assisted training [J]. Multimodal Technologies and Interaction, 2019, 3(4): 67.
[25] YOU S, NIE Jiaqi, SUH K, et al. When the robot criticizes you ... Self-serving bias in human-robot interaction [C]// The 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI). Piscataway, USA: IEEE, 2011: 295-296.
[26] KOAY K L, DAUTENHAHN K, WOODS S N, et al. Empirical results from using a comfort level device in human-robot interaction studies [C]// Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-Robot Interaction. New York, USA: Association for Computing Machinery, 2006: 194-201.
[27] SIDNER C L, LEE C, KIDD C D, et al. Explorations in engagement for humans and robots [J]. Artificial Intelligence, 2005, 166(1/2): 140-164.
[28] JANISSE M P. Pupil size, affect and exposure frequency [J]. Social Behavior and Personality, 1974, 2(2): 125-146.
[29] XU Junchao, BROEKENS J, HINDRIKS K, et al. Mood contagion of robot body language in human robot interaction [J]. Autonomous Agents and Multi-Agent Systems, 2015, 29(6): 1216-1248.
[30] 郭伏,李明明,胡名彩,等.基于眼动和脑电技术的机器人情绪行为对用户交互情感的影响研究[J].人类工效学,2018,24(2):1-7,21.
GUO Fu, LI Mingming, HU Mingcai, et al. The effect of robotic behaviors on users’ interactive emotions based on eye-tracking and EEG [J]. Chinese Journal of Ergonomics, 2018, 24(2): 1-7, 21.(in Chinese)
[31] 李明明.人形服务机器人情绪行为对用户情感体验的影响研究[D].沈阳:东北大学,2017.
LI Mingming. Study on the influence of emotional behaviors of humanoid service robot on user’s emotional experience [D]. Shenyang: Northeastern University, 2017.(in Chinese)
[32] 吴伟国,李虹漫.PAD情感空间内人工情感建模及人机交互实验[J].哈尔滨工业大学学报,2019,51(1):29-37.
WU Weiguo, LI Hongman. Artificial emotion modeling in PAD emotional space and human-robot interactive experiment [J]. Journal of Harbin Institute of Technology, 2019, 51(1): 29-37.(in Chinese)

相似文献/References:

[1]黄海明,吴林源,林俊豪,等.基于内嵌型光学弯曲传感器的软体手感知[J].深圳大学学报理工版,2019,36(3):237.[doi:10.3724/SP.J.1249.2019.03229]
 HUANG Haiming,WU Linyuan,LIN Junhao,et al.Soft hand perception based on embedded optical fiber bending sensor[J].Journal of Shenzhen University Science and Engineering,2019,36(2):237.[doi:10.3724/SP.J.1249.2019.03229]
[2]夏德龙,吴耀华,王艳艳,等.基于智能机器人的“货到人”系统订单排序优化[J].深圳大学学报理工版,2019,36(6):696.[doi:10.3724/SP.J.1249.2019.06696]
 XIA Delong,WU Yaohua,WANG Yanyan,et al.Order sequence optimization for parts-to-picker intelligent robot system[J].Journal of Shenzhen University Science and Engineering,2019,36(2):696.[doi:10.3724/SP.J.1249.2019.06696]
[3]南文虎,徐付民,叶伯生.记忆推理的放射源抓取机器人运动规划[J].深圳大学学报理工版,2022,39(3):343.[doi:10.3724/SP.J.1249.2022.03343]
 NAN Wenhu,XU Fumin,and YE Bosheng.Motion planning of radioactive source grasping robot based on memory reasoning[J].Journal of Shenzhen University Science and Engineering,2022,39(2):343.[doi:10.3724/SP.J.1249.2022.03343]

备注/Memo

备注/Memo:
Received: 2022- 09-06;修订日期: Accepted: 2023-02-04; Online (CNKI): 2023-02-23
Foundation: National Natural Science Foundation of China (72101161); Shenzhen Basic Research Foundation for General Projects (20200813225029002)
Corresponding author: Assistant professor TAO Da.E-mail: taoda@szu.edu.cn
Citation: XIE Binfu, TAO Da, LI Shilong, et al. The effects of situational factors on human-robot interaction experience [J]. Journal of Shenzhen University Science and Engineering, 2023, 40(2): 244-252.(in Chinese)
基金项目:国家自然科学基金资助项目(72101161);深圳市基础研究计划资助项目(20200813225029002)
作者简介:谢滨福(1996—),深圳大学硕士研究生.研究方向:人因工程.E-mail: 1416829147@qq.com
引文:谢滨福,陶达,李世龙,等.基于交互情境因素的人与机器人交互体验[J].深圳大学学报理工版,2023,40(2):244-252.
更新日期/Last Update: 2023-03-30