Interact with me: optimal human-humanoid physical interaction

随着机器人在人类环境中的部署，机器人对人类的意外物理行为(Active PHRI，即主动的人与机器人的物理交互)可能是不可避免的。然而，目前还不清楚人类将如何感知这些行为，以及机器人应该如何在身体和心理上安全地执行这些行为。2020财年的研究目标是通过实验室实验来量化人类在与机器人进行主动物理交互时的身体和心理状态。我们假设，主动的机器人行为可能会导致用户数据的可测量变化，这可能与他们的感知和个性有关。在实验中，用户使用机器人玩视觉游戏，机器人有一个隐藏的任务，导致用户采取主动的身体动作。我们从物理和生理传感器收集数据，并通过问卷和半结构化访谈收集感知和个性。对总共35名参与者收集的数据进行了统计分析和分类，显示了参与者的身体和生理数据与他们的年龄、性别、知觉和个性之间的关系。结果可用于实现主动PHRI控制器，该控制器可同时考虑用户的身体状态和精神状态。

Unanticipated physical actions from the robot on humans (active pHRI, which stands for active physical human-robot interaction) may be inevitable with the deployment of robots in human-populated environments.However, it is still unclear how humans would perceive such actions and how the robot should execute them in a physically and psychologically safe manner.The objective of research in FY 2020 is to quantify the humans' physical and mental state during an active physical interaction with a robot, by means of a laboratory experiment.We hypothesize that the active robot actions could cause measurable alterations in users' data, which could be related to their perceptions and personalities. In the experiment, the user plays a visual game using the robot, which has a hidden task that results in active physical actions on the user. We collect data from physical and physiological sensors, and the perceptions and personalities via questionnaires and a semi-structured interview. Statistical analysis and clustering of the data collected from a total of 35 participants showed relationships between participants' physical and physiological data and their age, gender, perception, and personalities. The outcomes can be used to implement an active pHRI controller that can account for both the physical and the mental state of users.