Intentional User Adaptation to Shared Control Assistance

Shared control approaches to robot assistance, which predict a user's goal based on their control input and provide autonomous assistance towards the predicted goal, typically assume that user behavior remains the same despite the presence of the assistance and rely on this assumption to infer...

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Vydáno v:2024 19th ACM/IEEE International Conference on Human-Robot Interaction (HRI) s. 4 - 12
Hlavní autoři: Aronson, Reuben M., Schaertl Short, Elaine
Médium: Konferenční příspěvek
Jazyk:angličtina
Vydáno: ACM 11.03.2024
Témata:
assistive robotics
Human computer interaction
Human-robot interaction
Organizations
Robots
shared autonomy
shared control
System dynamics
teleoperation
User centered design
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Shrnutí:Shared control approaches to robot assistance, which predict a user's goal based on their control input and provide autonomous assistance towards the predicted goal, typically assume that user behavior remains the same despite the presence of the assistance and rely on this assumption to infer user goals. However, people operating assisted systems continuously observe the robot behaving differently from their expectations, which may lead them to adapt their control behavior to better achieve their desired outcomes. In this paper, we show that users both change their control behavior when assistance is added and describe these changes as responses to the new system dynamics. In a computer-based bubble popping study, participants report changing their strategies with different levels of assistance, and analysis of their actual control input validates this change. In an in-the-wild robot study, participants teleoperated a robot to pick up a cup despite the presence of "assistance" that drives the system away from the true goals of the task. Participants can overcome the "assistance" and reach the goal, which requires them to correct for the novel system dynamics. These results motivate further research in user-centered design and evaluation of assistive systems that treat the user as intentional.CCS CONCEPTS* Human-centered computing; * Computer systems organization → Robotic control;
DOI:10.1145/3610977.3634953