Personal Space Violation by a Robot: An Application of Expectation Violation Theory in Human-Robot Interaction
Personal Space Violation by a Robot: An Application of Expectation Violation Theory in Human-Robot Interaction
复制标题
机器人侵犯个人空间：期望违反理论在人机交互中的应用
DOI：
10.1109/ro-man50785.2021.9515472
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
H. Umemuro
中科院分区：
文献类型：
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作者：
Chatchalita Asavanant;H. Umemuro
对人类与机器人之间的个人空间的研究一直在增长。然而，人们对机器人侵犯个人空间的影响知之甚少。期望违背理论（EVT）解释了人们如何应对他人侵犯个人空间的反应，具体取决于该人被认为是奖励还是惩罚。本研究旨在将 EVT 扩展到 HRI，并使用 EVT 作为分析框架来研究个人空间侵犯的影响。采用 2 × 5 受试者内实验设计。两个具有不同奖励值（奖励和惩罚）的机器人以不同的距离（威胁距离、近距离、正常距离、稍远距离和远距离）接近参与者。参与者被要求对机器人感知的温暖度、能力和舒适度进行评分，以评估发生个人空间侵犯后的沟通结果。结果表明，距离的接近会对沟通结果产生影响。正如 EVT 预测的那样，每个距离对通信结果的影响根据机器人的奖励值而有所不同。研究结果表明，EVT 在预测个人空间侵犯的影响方面取得了部分成功，具体取决于机器人的奖励值和接近距离。这项研究为 EVT 可以应用于 HRI 提供了部分支持，并有助于理解机器人侵犯个人空间的影响。当考虑 HRI 中的个人空间时，机器人的感知奖励价值起着重要作用，因为它可以极大地影响个人空间侵犯的效果。
Studies of personal space between human and robot have been growing. However, little is known about the effects of personal space violation by a robot. Expectation Violation Theory (EVT) explains how people respond to personal space invasion by another person, depending on if the person is perceived as rewarding or punishing. This study aims to extend EVT to HRI and to examine the effects of personal space violation using EVT as an analytical framework. A 2 × 5 within-subject experimental design was employed. The participants were approached by two robots with different reward value (rewarding and punishing) at varying distances (threat, near, norm, slightly far, and far distances). The participants were asked to rate the robots’ perceived warmth, competence, and comfort scores after each approach to evaluate the communication outcomes after the personal space violation occurred. The results suggested that approaching distances had influences on the communication outcomes. As predicted by EVT, how each distance affected the communication outcomes differ according on robot’s reward value. The findings indicated that EVT was partially successful in predicting the effects of personal space violations depending on the reward value and approaching distance of a robot. This study has provided a partial support that EVT can be applied to HRI and contributed to understanding the effects of personal space violation by a robot. When considering personal space in HRI, perceived reward value of the robot plays an important role as it can influence the effects of the personal space violation greatly.