Comparison of people's responses to real and virtual handshakes within a virtual environment
Comparison of people's responses to real and virtual handshakes within a virtual environment
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DOI：
10.1016/j.brainresbull.2010.11.012
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发表时间：
2011-06-30
影响因子：
3.8
通讯作者：
Slater, Mel
中科院分区：
文献类型：
--
作者：
Giannopoulos, Elias;Wang, Zheng;Slater, Mel
在本文中，我们提出了一种方法来评估一个触觉装置，模拟人类的握手界面通过一个金属杆。我们提供了一个概述的触觉演示器和控制算法，用于提供逼真的握手。为了评估这个握手演示器，我们引入了一种“地面真相”方法，在这种方法中，我们将机器人的握手与人类通过同一根金属棒操作的握手进行比较。为此，进行了一项实验，参与者进入一个虚拟环境，即虚拟鸡尾酒会，并被要求与机器人进行多次握手，要么与机器人操作两种控制算法中的一种操作金属棒-一种用于比较的基本算法或提出的新高级算法，要么与人类操作金属棒。虚拟环境仅通过声音和触觉来表现，没有任何视觉表现，即受试者被蒙住眼睛参与。对每次握手的评估是通过对每次握手的主观评分来实现的。研究结果表明，与使用基本算法操作的演示器相比，使用所提出的新控制方案操作的演示器被评估为更像人类，并且与两种类型的机器人握手相比，真实的人类握手被评估为更像真实的人类握手。虽然先进的机器人和人类握手之间的差异是显著的，但效应大小并没有太大的不同，这表明参与者在先进的机器人和人类操作的握手之间存在很大的混淆。(C) 2010爱思唯尔公司版权所有。
In this paper we present a method for evaluating a haptic device which simulates human handshakes interfaced via a metal rod. We provide an overview of the haptic demonstrator and the control algorithm used for delivering realistic handshakes. For the evaluation of this handshake demonstrator we introduce a 'ground truth' approach, where we compare the robot handshakes with handshakes operated by a human via the same metal rod. For this, an experiment was carried out where the participants entered a virtual environment, i.e. a virtual cocktail party, and were asked to perform a number of handshakes, either with the robot operating with one of two control algorithms operating the metal rod - a basic one for comparison or the proposed new advanced one, or with a human operating the metal rod. The virtual environment was represented only through audio and haptics, without any visual representation, i.e. the subjects participated blindfolded. The evaluation of each handshake was achieved through the subjective scoring of each of the handshakes. The results of the study show that the demonstrator operating with the proposed new control scheme was evaluated significantly more human-like than with the demonstrator operating with the basic algorithm, and also that the real human handshake was evaluated more like a real human handshake than both types of robot handshakes. Although the difference between the advanced robot and human handshake was significant, the effect sizes are not very different, indicating substantial confusion of participants between the advanced robot and human operated handshakes. (C) 2010 Elsevier Inc. All rights reserved.