Methods for Expressing Robot Intent for Human–Robot Collaboration in Shared Workspaces
Methods for Expressing Robot Intent for Human–Robot Collaboration in Shared Workspaces
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DOI：
10.1145/3472223
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发表时间：
2021-09
期刊：
影响因子：
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通讯作者：
Gregory LeMasurier;Gal Bejerano;Victoria Albanese;Jenna Parrillo;H. Yanco;Nicholas Amerson;Rebecca Hetrick;Elizabeth Phillips
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文献类型：
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作者：
Gregory LeMasurier;Gal Bejerano;Victoria Albanese;Jenna Parrillo;H. Yanco;Nicholas Amerson;Rebecca Hetrick;Elizabeth Phillips
在世界各地的工厂里，人机协作正变得越来越普遍；因此，我们需要改善在这些空间工作的人与机器人之间的互动体验。在本文中，我们报告了一项用户研究，该研究调查了通过机器人提供的信号向人们提供有关机器人在共享工作空间中一起工作时移动意图的信息的方法。在本例中，工作空间是桌面的表面。我们的研究测试了三种基于动作和三种基于光线的意图信号的有效性，以及参与者在与机器人一起对桌面上的彩色块进行分类时感受到的整体舒适程度。虽然不重要，但我们的研究结果表明，最靠近工作空间的光信号——最靠近机器人末端执行器的LED手环——对参与者来说是最明显、最不困惑的。这些发现可以用于支持共享空间中的人机协作。
Human–robot collaboration is becoming increasingly common in factories around the world; accordingly, we need to improve the interaction experiences between humans and robots working in these spaces. In this article, we report on a user study that investigated methods for providing information to a person about a robot’s intent to move when working together in a shared workspace through signals provided by the robot. In this case, the workspace was the surface of a tabletop. Our study tested the effectiveness of three motion-based and three light-based intent signals as well as the overall level of comfort participants felt while working with the robot to sort colored blocks on the tabletop. Although not significant, our findings suggest that the light signal located closest to the workspace—an LED bracelet located closest to the robot’s end effector—was the most noticeable and least confusing to participants. These findings can be leveraged to support human–robot collaborations in shared spaces.