Evaluating Human-Robot Interaction during a Manipulation Experiment Conducted in Immersive Virtual Reality
This paper presents the main highlights of a Human-Robot Interaction (HRI) study conducted during a manipulation experiment performed in Cave Automatic Virtual Environment (CAVE). Our aim is to assess whether using immersive Virtual Reality (VR) for testing material handling scenarios that assume collaboration between robots and humans is a practical alternative to similar real live applications. We focus on measuring variables identified as conclusive for the purpose of this study (such as the percentage of tasks successfully completed, the average time to complete task, the relative distance and motion estimate, presence and relative contact errors) during different manipulation scenarios. We present the experimental setup, the HRI questionnaire and the results analysis. We conclude by listing further research issues.
Keywordshuman-robot interaction immersive virtual reality CAVE presence manipulation
Unable to display preview. Download preview PDF.
- 1.Johns, K., Taylor, T.: Professional Microsoft Robotics Developer Studio. Wrox Press, Indianapolis (2008)Google Scholar
- 2.Haton, B., Mogan, G.: Enhanced Ergonomics and Virtual Reality Applied to Industrial Robot Programming. Scientific Bulletin of Politehnica University of Timisoara, Timisoara, Romania (2008)Google Scholar
- 3.Morgan, S.: Programming Microsoft® Robotics Studio. Microsoft Press, Washington (2008)Google Scholar
- 6.Walters, M.L., et al.: Practical and Methodological Challenges in Designing and Conducting Human-Robot Interaction Studies. In: Proceedings of AISB 2005 Symposium on Robot Companions Hard Problems and Open Challenges in Human-Robot Interaction, pp. 110–120 (2005)Google Scholar
- 7.Edsinger, A., Kemp, C.: Human-robot interaction for cooperative manipulation: Handing objects to one another. In: Proceedings of the IEEE International Workshop on Robot and Human Interactive Communication, ROMAN (2007)Google Scholar
- 8.Steinfeld, A., et al.: Common Metrics for Human-Robot Interaction. In: Proceedings of the 1st ACM SIGCHI/SIGART Conference on Human-Robot Interaction, pp. 33–40 (2006)Google Scholar
- 9.Lombard, M., et al.: Measuring presence: a literature-based approach to the development of a standardized paper-and-pencil instrument. In: The 3rd International Workshop on Presence, Delft, The Netherlands (2000)Google Scholar
- 10.Bainbridge, W.A., et al.: The effect of presence on human-robot interaction. In: Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, pp. 701–706 (2008)Google Scholar
- 11.Vajta, L., Juhasz, T.: The Role of 3D Simulation in the Advanced Robotic Design, Test and Control, Cutting Edge Robotics, pp. 47–60 (2005)Google Scholar
- 12.Duguleana, M.: Robot Manipulation in a Virtual Industrial Environment. International Master Thesis on Virtual Environments. Scuola Superiorre Sant’Anna, Pisa, Italy (2010)Google Scholar