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 display a general lack of communication skills. This study aims to visualize the internal state and intent of robots for Human-to-Robot Handovers using Augmented Reality. Specifically, we aim to visualize 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 that visualizing robot intent using augmented reality substantially improves the subjective 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：人类高度熟练,能够传达何时何地交接的意向。 然而,即使最先进的交接机器人实施过程也显示普遍缺乏沟通技能。 本研究的目的是通过增强真实性,直观地展示机器人在人类到机器人交接过程中的内部状态和意图。 具体地说,我们的目标是直观地展示3D对象模型和机器人抓手器,以传达机器人对物体所在位置的估计以及机器人想要抓住物体的姿势。 我们通过用户研究测试了这一设计,有16人参加,其中每个参与者都向机器人移交了一个立方形物体12次。 研究结果显示,利用增强现实的可视化机器人意图极大地改善了用户的移交主观体验。 结果还表明,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意识到的安全和互动的流畅度更为明显。
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