Humans are highly skilled in communicating their intent for when and where a handover would occur. However, even the state-of-the-art robotic implementations for handovers typically lack of such communication skills. This study investigates visualization of the robot's internal state and intent for Human-to-Robot Handovers using Augmented Reality. Specifically, we explore the use of visualized 3D models of the object and the robotic gripper to communicate the robot's estimation of where the object is and the pose in which the robot intends to grasp the object. We tested this design via a user study with 16 participants, in which each participant handed over a cube-shaped object to the robot 12 times. Results show communicating robot intent via augmented reality substantially improves the perceived experience of the users for handovers. Results also indicate that the effectiveness of augmented reality is even more pronounced for the perceived safety and fluency of the interaction when the robot makes errors in localizing the object.
翻译:人类非常熟练地交流何时何地交接的意向。 然而, 即使最先进的交接机器人实施通常也缺乏这种沟通技能。 本研究调查机器人内部状态的视觉化以及使用增强现实化的人类到机器人交接意图。 具体地说, 我们探索使用可视化的物体3D模型和机器人控制器来传达机器人对物体所在位置和机器人想要抓住物体的姿势的估计。 我们通过用户研究测试了这一设计,有16人参加,每个参与者都向机器人移交了一个立方形物体12次。 结果显示,通过扩大现实化来传播机器人意图大大改善了用户对交接的认知经验。 结果还显示,当机器人在定位对象时出错时,增强现实的有效性对于人们所认知到的安全和可乐性更为明显。