Presentation of Robot-Intended Handover Position Using Vibrotactile Interface During Robot-to-Human Handover Task
Advancements in robot autonomy and safety have enabled close interactions, such as object handovers, with humans. During robot-to-human handovers in assembly tasks, the robot considers the state of the human to determine its optimal handover position and timing. However, humans may struggle to focus...
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| Veröffentlicht in: | 2024 19th ACM/IEEE International Conference on Human-Robot Interaction (HRI) S. 492 - 500 |
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| Sprache: | Englisch |
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ACM
11.03.2024
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| Abstract | Advancements in robot autonomy and safety have enabled close interactions, such as object handovers, with humans. During robot-to-human handovers in assembly tasks, the robot considers the state of the human to determine its optimal handover position and timing. However, humans may struggle to focus on their primary tasks because of the need to track the robot's movement. This study aims to develop a vibrotactile interface that helps humans maintain focus on their primary tasks during object reception. The interface conveys the robot-intended handover position on the human forearm by displaying the angular direction and distance relative to the human hand via vibrotactile cues. The experimental results demonstrated that the interface allowed participants to receive objects with faster reactions and completion times, with reduced head rotation towards the robot. Participants also subjectively perceived improved performance and reduced mental workload compared with the condition without the interface.CCS CONCEPTS* Human-centered computing → Human computer interaction (HCI); Collaborative interaction; Haptic devices; User interface programming. |
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| AbstractList | Advancements in robot autonomy and safety have enabled close interactions, such as object handovers, with humans. During robot-to-human handovers in assembly tasks, the robot considers the state of the human to determine its optimal handover position and timing. However, humans may struggle to focus on their primary tasks because of the need to track the robot's movement. This study aims to develop a vibrotactile interface that helps humans maintain focus on their primary tasks during object reception. The interface conveys the robot-intended handover position on the human forearm by displaying the angular direction and distance relative to the human hand via vibrotactile cues. The experimental results demonstrated that the interface allowed participants to receive objects with faster reactions and completion times, with reduced head rotation towards the robot. Participants also subjectively perceived improved performance and reduced mental workload compared with the condition without the interface.CCS CONCEPTS* Human-centered computing → Human computer interaction (HCI); Collaborative interaction; Haptic devices; User interface programming. |
| Author | Wada, Takahiro Bin Mohammed Zaffir, Muhammad Akmal |
| Author_xml | – sequence: 1 givenname: Muhammad Akmal surname: Bin Mohammed Zaffir fullname: Bin Mohammed Zaffir, Muhammad Akmal email: muhammad.akmal_bin.mb5@is.naist.jp organization: Nara Institute of Science and Technology,Ikoma,Japan – sequence: 2 givenname: Takahiro surname: Wada fullname: Wada, Takahiro email: t.wada@is.naist.jp organization: Nara Institute of Science and Technology,Ikoma,Japan |
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| Snippet | Advancements in robot autonomy and safety have enabled close interactions, such as object handovers, with humans. During robot-to-human handovers in assembly... |
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| SubjectTerms | Handover Haptic Interface Human computer interaction Human-robot interaction Intent Communication Manipulators Robot vision systems Robot-to-Human Handover Tracking Vibrations Vibrotactile Feedback |
| Title | Presentation of Robot-Intended Handover Position Using Vibrotactile Interface During Robot-to-Human Handover Task |
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