Evaluating Fluency in Human-Robot Collaboration
Evaluating Fluency in Human-Robot Collaboration
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DOI：
10.1109/thms.2019.2904558
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发表时间：
2019-06-01
影响因子：
3.6
通讯作者：
Hoffman, Guy
中科院分区：
文献类型：
--
作者：
Hoffman, Guy
协作流畅性是一个同步良好的团队成员之间的联合活动的协调啮合。近年来，人机协作领域的研究人员一直在开发与人类一起工作的机器人，其目标不仅是提高任务效率，还包括人机流畅性。作为这项工作的一部分，我们开发了一些指标来评估人机共享位置团队合作的流畅程度。虽然这些指标在现有的研究中被使用，但还没有系统地讨论如何测量流利性以及常用的指标如何执行和比较。在本文中，我们编纂的主观和客观的人机流畅性指标，提供了一个分析模型的四个客观指标，并评估其动态的话轮转换框架。我们还报告了一项用户研究，将客观和主观流畅性指标联系起来，并调查了文献中最近使用这些指标的情况。
Collaborative fluency is the coordinated meshing of joint activities between members of a well-synchronized team. In recent years, researchers in human-robot collaboration have been developing robots to work alongside humans aiming not only at task efficiency, but also at human-robot fluency. As part of this effort, we have developed a number of metrics to evaluate the level of fluency in human-robot shared-location teamwork. While these metrics are being used in existing research, there has been no systematic discussion on how to measure fluency and how the commonly used metrics perform and compare. In this paper, we codify subjective and objective human-robot fluency metrics, provide an analytical model for four objective metrics, and assess their dynamics in a turn-taking framework. We also report on a user study linking objective and subjective fluency metrics and survey recent use of these metrics in the literature.