Studying How Object Handoff Orientations Relate to Subject Preferences on Handover
Studying How Object Handoff Orientations Relate to Subject Preferences on Handover
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DOI：
10.1109/arso56563.2023.10187566
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发表时间：
2023-06
期刊：
影响因子：
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通讯作者：
N. Wiederhold;Mingjun Li;N. Lamb;DiMaggio Paris;Alaina Tulskie;Sean Banerjee;N. Banerjee
中科院分区：
文献类型：
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作者：
N. Wiederhold;Mingjun Li;N. Lamb;DiMaggio Paris;Alaina Tulskie;Sean Banerjee;N. Banerjee
涉及人机交接的数据收集为推动人机交互研究提供了巨大的飞跃。然而，所有现有的数据集都缺乏传递者和接收者在移交交互中的偏好信息。大多数先前的研究都依赖于小规模的人类参与者实验，涉及有限范围的物体，参与者通常被期望分享类似的交接态度。然而，在现实世界中，有各种各样的对象，给予者和接受者的偏好可能并不总是一致的。在本文中，我们提出了一项大规模的人类移交行为研究，涉及96对参与者，来自32名参与者和204个物体。每一组由2名参与者参与交接，在给予者发起交接后，参与者提供舒适评级和二元回答，表明他们是否同意交接地点。我们还要求接收方展示他们的首选切换，以获得在切换点的对象姿态的详细信息。我们的研究捕获了4视点RGB-D记录，包括施主发起的前向切换和受主发起的示范切换。利用收集到的数据，我们评估了参与者提供的主观评分如何与移交时对象取向对齐的客观测量相关联。
Data collection involving human-human handover has provided enormous leaps in driving human-robot interaction research. However, all existing datasets lack information on giver and receiver preferences in handover interactions. Most previous studies have relied on small-scale human participant experiments involving a limited range of objects, where participants are often expected to share similar handover attitudes. Nevertheless, in real-world scenarios with diverse objects, it is likely that giver and receiver preferences will not always align. In this paper, we present a large-scale study of human-human handover behavior involving 96 participant dyads derived from 32 participants in total and 204 objects. Each dyad consists of 2 participants engaging in handovers, where after a giver-initiated handover, participants provide comfort ratings and binary responses indicating whether they agreed on the handover location. We also ask the receiver to demonstrate their preferred handover to gain detailed information on object pose at the handoff point. Our study captures 4-viewpoint RGB-D recordings of both giver-initiated forward handover and receiver-initiated demonstration handover. Using the collected data, we evaluate how the subjective ratings provided by participants correlate with objective measures of alignment of object orientation at handoff.