Robotics

Human-Robot Interaction

Effects of Variable Time Delay in Robotic Teleoperation

Objective and Hypothesis

The objective of this study was to establish the effects of time delay on human emotion, physiological signals, and user satisfaction. Time delay of system is expected to result in increased negative emotions, increased arousal, and decreased user satisfaction for tasks of both low and high difficulty.

Method

Participants were asked to remote-control a robot vehicle to navigate different mazes in a remote location. Time delay was manipulated by introducing lags into system feedback. Subjective and objective measures included emotion tracking through face recognition, and electrodermal activity (EDA).

Result

User frustration, anger, and arousal increased while user satisfaction decreased. A better understanding of how time delay influences user’s emotion and how change in emotion is expressed in physiological signals would be of crucial importance to designing an affect-aware robotic systems that have the ability to appropriately respond to user emotional state.

Publication

Yang, E. & Dorneich, M. C. (2017) The Emotional, Cognitive, Physiological, and Performance Effects of Variable Time Delay in Robotic Teleoperation. International Journal of Social Robotics. 9(4), 491–508.
Yang, E. (2016). Mitigating user frustration through adaptive feedback based on human automation etiquette strategies, Doctoral dissertation, Iowa State University.
Yang, E. & Dorneich, M. C. (2015) The Effect of Time Delay on Emotion, Arousal, and Satisfaction in Human-Robot Interaction. In Proceedings of the Human Factors and Ergonomics Society Annual Meeting (Vol. 59, No. 1, pp. 443-447). SAGE Publications.

Social Robot

Human Motion Analysis for Designing Social Robots

Objective and Background

The study on social robots has been actively conducted in the robot research community. In the area of robot design, however, there are few studies regarding robot motions that are one of the methods for interaction between humans and robots. This is a preliminary study to find preferred human motions that can be applied to social robots.

Method

We conducted a two-phased empirical study about preferred human motions. In the first phase, four representative human motions, such as ‘greeting’, ‘I don’t know’, ‘positive answer’, and ‘giving’, were captured through 28 body makers and video recording. 10 young and 6 elderly Singaporeans participated in the motion capture process. In the second phase, the communication efficiency, emotion, and satisfaction of the human motions recorded in the first phase were measured by a questionnaire and 31 young Koreans, 35 young Singaporeans participated to investigate cultural differences.

Results and Conclusion

We drew the conclusion that motions used in the same culture are efficient in communication and also give friendliness and satisfaction. In addition, regardless of user's culture, young people’s motions and female motions were preferred in terms of communication efficiency, emotional aspect, satisfaction.

Publication

Yang, E., Hwang, W., Park, T., & Hwang, J. (2012) Emotional Analysis of Human Motion for the Silver Robots. Journal of Korean Society of Design Science, 25(3), 1-9.
Yang, E. & Hwang, W. (2012) Human Motion Analysis for Designing of Social Robots based on Cultural Difference. Journal of the Korean Institute of Industrial Engineers, 38(2), 133-143.
Yang, E. & Hwang, W. (2011) Motion Analysis of Human for Social Robots. Proceedings of 2011 Korean Institute of Industrial Engineers Fall Conference and Workshop (Seoul, November 5), KIIE, CD-ROM.
Yang, E., Hwang, W., Park, T., & Hwang, J. (2011) Emotional Analysis of Human Motion for the Silver Robots. Proceedings of 2011 Ergonomics Society of Korea Spring Conference and Workshop (Jeju, May 26-28), ESK, CD-ROM.

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