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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
1

Gendering Human-Robot Interaction: exploring how a person's gender impacts attitudes toward and interaction with robots

Wang, Yan January 2014 (has links)
Developing an improved understanding and awareness of how gender impacts perceptions of robots and interactions with them is crucial for the ongoing advancement of the human-robot interaction (HRI) field, as a lack of awareness of gender issues increases the risk of robot rejection and poor performance. This thesis provides a theoretical grounding for gender-studies in HRI, and contributes to the understanding of how gender affects attitudes toward and interaction with robots via the findings from an on-line survey and a laboratory user study. We envision that this work will provide HRI designers with a foundation and exemplary account of how gender can influence attitudes toward and interaction with robots, serving as a resource and a sensitizing discussion for gender studies in HRI.
2

Bringing Human-Robot Interaction Studies Online via the Robot Management System

Toris, Russell C 08 October 2013 (has links)
"Human-Robot Interaction (HRI) is a rapidly expanding field of study that focuses on allowing non-roboticist users to naturally and effectively interact with robots. The importance of conducting extensive user studies has become a fundamental component of HRI research; however, due to the nature of robotics research, such studies often become expensive, time consuming, and limited to constrained demographics. This work presents the Robot Management System, a novel framework for bringing robotic experiments to the web. A detailed description of the open source system, an outline of new security measures, and a use case study of the RMS as a means of conducting user studies is presented. Using a series of navigation and manipulation tasks with a PR2 robot, three user study conditions are compared: users that are co-present with the robot, users that are recruited to the university lab but control the robot from a different room, and remote web-based users. The findings show little statistical differences between usability patterns across these groups, further supporting the use of web-based crowdsourcing techniques for certain types of HRI evaluations."
3

Adaptive Optimal Control in Physical Human-Robot Interaction

January 2019 (has links)
abstract: What if there is a way to integrate prosthetics seamlessly with the human body and robots could help improve the lives of children with disabilities? With physical human-robot interaction being seen in multiple aspects of life, including industry, medical, and social, how these robots are interacting with human becomes even more important. Therefore, how smoothly the robot can interact with a person will determine how safe and efficient this relationship will be. This thesis investigates adaptive control method that allows a robot to adapt to the human's actions based on the interaction force. Allowing the relationship to become more effortless and less strained when the robot has a different goal than the human, as seen in Game Theory, using multiple techniques that adapts the system. Few applications this could be used for include robots in physical therapy, manufacturing robots that can adapt to a changing environment, and robots teaching people something new like dancing or learning how to walk after surgery. The experience gained is the understanding of how a cost function of a system works, including the tracking error, speed of the system, the robot’s effort, and the human’s effort. Also, this two-agent system, results into a two-agent adaptive impedance model with an input for each agent of the system. This leads to a nontraditional linear quadratic regulator (LQR), that must be separated and then added together. Thus, creating a traditional LQR. This new experience can be used in the future to help build better safety protocols on manufacturing robots. In the future the knowledge learned from this research could be used to develop technologies for a robot to allow to adapt to help counteract human error. / Dissertation/Thesis / Masters Thesis Engineering 2019
4

THE IMPACT OF MENTAL TRANSFORMATION TRAINING ACROSS LEVELS OF AUTOMATION ON SPATIAL AWARENESS IN HUMAN-ROBOT INTERACTION

Rehfeld, Sherri 11 January 2007 (has links)
One of the problems affecting robot operators' spatial awareness involves their ability to infer a robot's location based on the views from on-board cameras and other electro-optic systems. To understand the vehicle's location, operators typically need to translate images from a vehicle's camera into some other coordinates, such as a location on a map. This translation requires operators to relate the view by mentally rotating it along a number of axes, a task that is both attention-demanding and workload-intensive, and one that is likely affected by individual differences in operator spatial abilities. Because building and maintaining spatial awareness is attention-demanding and workload-intensive, any variable that changes operator workload and attention should be investigated for its effects on operator spatial awareness. One of these variables is the use of automation (i.e., assigning functions to the robot). According to Malleable Attentional Resource Theory (MART), variation in workload across levels of automation affects an operator's attentional capacity to process critical cues like those that enable an operator to understand the robot's past, current, and future location. The study reported here focused on performance aspects of human-robot interaction involving ground robots (i.e., unmanned ground vehicles, or UGVs) during reconnaissance tasks. In particular, this study examined how differences in operator spatial ability and in operator workload and attention interacted to affect spatial awareness during human-robot interaction (HRI). Operator spatial abilities were systematically manipulated through the use of mental transformation training. Additionally, operator workload and attention were manipulated via the use of three different levels of automation (i.e., manual control, decision support, and full automation). Operator spatial awareness was measured by the size of errors made by the operators, when they were tasked to infer the robot's location from on-board camera views at three different points in a sequence of robot movements through a simulated military operation in urban terrain (MOUT) environment. The results showed that mental transformation training increased two areas of spatial ability, namely mental rotation and spatial visualization. Further, spatial ability in these two areas predicted performance in vehicle localization during the reconnaissance task. Finally, assistive automation showed a benefit with respect to operator workload, situation awareness, and subsequently performance. Together, the results of the study have implications with respect to the design of robots, function allocation between robots and operators, and training for spatial ability. Future research should investigate the interactive effects on operator spatial awareness of spatial ability, spatial ability training, and other variables affecting operator workload and attention. / Ph.D. / Department of Psychology / Sciences / Psychology
5

Generating Explanations of Robot Policies in Continuous State Spaces

Struckmeier, Oliver January 2018 (has links)
Transparency in HRI describes the method of making the current state of a robotor intelligent agent understandable to a human user. Applying transparencymechanisms to robots improves the quality of interaction as well as the userexperience. Explanations are an effective way to make a robot’s decision making transparent. We introduce a framework that uses natural language labels attached to a region inthe continuous state space of the robot to automatically generate local explanationsof a robot’s policy. We conducted a pilot study and investigated how the generated explanations helpedusers to understand and reproduce a robot policy in a debugging scenario.
6

Aplicação de um robô humanoide autônomo por meio de reconhecimento de imagem e voz em sessões pedagógicas interativas / Application of an autonomous humanoid robot by image and voice recognition in interactive pedagogical sessions

Daniel Carnieto Tozadore 03 March 2016 (has links)
A Robótica Educacional consiste na utilização de robôs para aplicação prática dos conteúdos teóricos discutidos em sala de aula. Porém, os robôs mais usados apresentam uma carência de interação com os usuários, a qual pode ser melhorada com a inserção de robôs humanoides. Esta dissertação tem como objetivo a combinação de técnicas de visão computacional, robótica social e reconhecimento e síntese de fala para a construção de um sistema interativo que auxilie em sessões pedagógicas por meio de um robô humanoide. Diferentes conteúdos podem ser abordados pelos robôs de forma autônoma. Sua aplicação visa o uso do sistema como ferramenta de auxílio no ensino de matemática para crianças. Para uma primeira abordagem, o sistema foi treinado para interagir com crianças e reconhecer figuras geométricas 3D. O esquema proposto é baseado em módulos, no qual cada módulo é responsável por uma função específica e contém um grupo de funcionalidades. No total são 4 módulos: Módulo Central, Módulo de Diálogo, Módulo de Visão e Módulo Motor. O robô escolhido é o humanoide NAO. Para visão computacional, foram comparados a rede LEGION e o sistema VOCUS2 para detecção de objetos e SVM e MLP para classificação de imagens. O reconhecedor de fala Google Speech Recognition e o sintetizador de voz do NAOqi API são empregados para interações sonoras. Também foi conduzido um estudo de interação, por meio da técnica de Mágico-de-Oz, para analisar o comportamento das crianças e adequar os métodos para melhores resultados da aplicação. Testes do sistema completo mostraram que pequenas calibrações são suficientes para uma sessão de interação com poucos erros. Os resultados mostraram que crianças que tiveram contato com uma maior interatividade com o robô se sentiram mais engajadas e confortáveis nas interações, tanto nos experimentos quanto no estudo em casa para as próximas sessões, comparadas às crianças que tiveram contato com menor nível de interatividade. Intercalar comportamentos desafiadores e comportamentos incentivadores do robô trouxeram melhores resultados na interação com as crianças do que um comportamento constante. / Educational Robotics is a growing area that uses robots to apply theoretical concepts discussed in class. However, robots usually present a lack of interaction with users that can be improved with humanoid robots. This dissertation presents a project that combines computer vision techniques, social robotics and speech synthesis and recognition to build an interactive system which leads educational sessions through a humanoid robot. This system can be trained with different content to be addressed autonomously to users by a robot. Its application covers the use of the system as a tool in the mathematics teaching for children. For a first approach, the system has been trained to interact with children and recognize 3D geometric figures. The proposed scheme is based on modules, wherein each module is responsible for a specific function and includes a group of features for this purpose. In total there are 4 modules: Central Module, Dialog Module, Vision Module and Motor Module. The chosen robot was the humanoid NAO. For the Vision Module, LEGION network and VOCUS2 system were compared for object detection and SVM and MLP for image classification. The Google Speech Recognition speech recognizer and Voice Synthesizer Naoqi API are used for sound interactions. An interaction study was conducted by Wizard-of-Oz technique to analyze the behavior of children and adapt the methods for better application results. Full system testing showed that small calibrations are sufficient for an interactive session with few errors. Children who had experienced greater interaction degrees from the robot felt more engaged and comfortable during interactions, both in the experiments and studying at home for the next sessions, compared to children who had contact with a lower level of interactivity. Interim challenging behaviors and support behaviors brought better results in interaction than a constant behavior.
7

Aplicação de um robô humanoide autônomo por meio de reconhecimento de imagem e voz em sessões pedagógicas interativas / Application of an autonomous humanoid robot by image and voice recognition in interactive pedagogical sessions

Tozadore, Daniel Carnieto 03 March 2016 (has links)
A Robótica Educacional consiste na utilização de robôs para aplicação prática dos conteúdos teóricos discutidos em sala de aula. Porém, os robôs mais usados apresentam uma carência de interação com os usuários, a qual pode ser melhorada com a inserção de robôs humanoides. Esta dissertação tem como objetivo a combinação de técnicas de visão computacional, robótica social e reconhecimento e síntese de fala para a construção de um sistema interativo que auxilie em sessões pedagógicas por meio de um robô humanoide. Diferentes conteúdos podem ser abordados pelos robôs de forma autônoma. Sua aplicação visa o uso do sistema como ferramenta de auxílio no ensino de matemática para crianças. Para uma primeira abordagem, o sistema foi treinado para interagir com crianças e reconhecer figuras geométricas 3D. O esquema proposto é baseado em módulos, no qual cada módulo é responsável por uma função específica e contém um grupo de funcionalidades. No total são 4 módulos: Módulo Central, Módulo de Diálogo, Módulo de Visão e Módulo Motor. O robô escolhido é o humanoide NAO. Para visão computacional, foram comparados a rede LEGION e o sistema VOCUS2 para detecção de objetos e SVM e MLP para classificação de imagens. O reconhecedor de fala Google Speech Recognition e o sintetizador de voz do NAOqi API são empregados para interações sonoras. Também foi conduzido um estudo de interação, por meio da técnica de Mágico-de-Oz, para analisar o comportamento das crianças e adequar os métodos para melhores resultados da aplicação. Testes do sistema completo mostraram que pequenas calibrações são suficientes para uma sessão de interação com poucos erros. Os resultados mostraram que crianças que tiveram contato com uma maior interatividade com o robô se sentiram mais engajadas e confortáveis nas interações, tanto nos experimentos quanto no estudo em casa para as próximas sessões, comparadas às crianças que tiveram contato com menor nível de interatividade. Intercalar comportamentos desafiadores e comportamentos incentivadores do robô trouxeram melhores resultados na interação com as crianças do que um comportamento constante. / Educational Robotics is a growing area that uses robots to apply theoretical concepts discussed in class. However, robots usually present a lack of interaction with users that can be improved with humanoid robots. This dissertation presents a project that combines computer vision techniques, social robotics and speech synthesis and recognition to build an interactive system which leads educational sessions through a humanoid robot. This system can be trained with different content to be addressed autonomously to users by a robot. Its application covers the use of the system as a tool in the mathematics teaching for children. For a first approach, the system has been trained to interact with children and recognize 3D geometric figures. The proposed scheme is based on modules, wherein each module is responsible for a specific function and includes a group of features for this purpose. In total there are 4 modules: Central Module, Dialog Module, Vision Module and Motor Module. The chosen robot was the humanoid NAO. For the Vision Module, LEGION network and VOCUS2 system were compared for object detection and SVM and MLP for image classification. The Google Speech Recognition speech recognizer and Voice Synthesizer Naoqi API are used for sound interactions. An interaction study was conducted by Wizard-of-Oz technique to analyze the behavior of children and adapt the methods for better application results. Full system testing showed that small calibrations are sufficient for an interactive session with few errors. Children who had experienced greater interaction degrees from the robot felt more engaged and comfortable during interactions, both in the experiments and studying at home for the next sessions, compared to children who had contact with a lower level of interactivity. Interim challenging behaviors and support behaviors brought better results in interaction than a constant behavior.
8

Vilka kriterier är viktiga för användarupplevelsen vid interaktion med en språkcafé-robot? / Which criteria are important for the user experience when interacting with a language café robot?

Mekonnen, Michael, Tahir, Gara January 2019 (has links)
As the number of immigrants in Sweden rises, the demand for alternative methods for language learning increases simultaneously. The use of social robots for teaching a second language is a promising field. The following research question has been designed to identify how social robots can be improved to better suit second language learners. The research question is: Which criteria are important for the user experience when interacting with a language cafe robot? The main method used to answer the question is Design Thinking with the help of semi-structured interviews. The results were 12 criteria which can be implemented for social robots in the future. The research has also studied how the criteria can be implemented in robots and to what degree the robot Furhat developed by Furhat robotics has implemented the criteria today. / I takt med det stigande antalet immigranter i Sverige ökar efterfrågan på alternativa metoder för språkinlärning. Användningen av sociala robotar för att undervisa andraspråk är ett lovande fält. Följande forskningsfråga har utformats för att identifiera hur sociala robotar kan förbättras för att anpassas till elever som lär sig andraspråk. Forskningsfrågan lyder enligt följande: Vilka kriterier är viktiga för användarupplevelsen när man interagerar med en språkcaférobot? Den huvudsakliga metoden som används för att svara på frågan är Design Thinking med hjälp av semistrukturerade intervjuer. Resultatet var 12 kriterier som kan implementeras för sociala robotar i framtiden. Rapporten har också studerat hur kriterierna kan implementeras i robotar och i vilken grad roboten Furhat som utvecklats av Furhat Robotics har implementerat kriterierna idag.
9

Den första digitala medarbetaren : En Actor-Network Theory-studie i en omsorgsförvaltning

Stålhand, Henrik, Davoodi, Matin January 2020 (has links)
Det har visat sig att det finns en viss oro för vad den ökade robotiseringen kommer att innebära, samtidigt som robotiseringens utsträckning skiljer sig mellan branscher. Denna ANT-studie behandlar införandet av en robot i en omsorgsförvaltning. Av detta följer att verksamheten genomgår någon form av förändring, varefter vi ämnat skapa en förståelse för de okända konsekvenser som följer. Studien har även sin utgångspunkt i HRI och antropomorfisering, som givit perspektiv på olika former av aktörskap och deras interaktioner. Studien är till sin natur kvalitativ och har präglats av en abduktiv arbetsprocess, samtidigt som ANT-perspektivet även har haft implikationer på det ontologiska och epistemologiska ställningstagandet. Det empiriska materialet presenteras i form av ett narrativ uppdelat i tre episoder som är berättat av roboten Matilda. Det har visat sig att Matilda har varit en central materialitet för de associeringar som sammanför aktörerna i nätverket, men att hennes införande även medfört nätverkseffekter. Vi kan med säkerhet påstå att effekterna är dynamiska och att de först blir framträdande med tiden. Detta ger ett cirkulärt samband, där idéer förändras och avlöser varandra. / It has been shown that there is some concern about what the increased robotization will mean, while the extent of robotization differs between industries. This ANT study deals with the introduction of a robot into a Public Care Department. This is followed by the notion that the organization will undergo some kind of change, after which we intend to create an understanding of the unknown consequences that follow. The study also has its outset in HRI and anthropomorphism, which have given perspectives on different forms of actors and their interactions. The study is by nature qualitative and has been characterized by an abductive work process, while the ANT perspective has also had implications for the ontological and epistemological positions. The empirical material is presented in the form of a narrative, divided into three episodes told by Matilda the robot. It appears that Matilda has been a central materiality for the associations that connect the actors in the network, but that her introduction also has brought network effects. We can say with certainty that the effects are dynamic and that they only become prominent over time. This provides a circular relationship, where ideas change and replace each other.
10

Requirements for effective collision detection on industrial serial manipulators

Schroeder, Kyle Anthony 16 October 2013 (has links)
Human-robot interaction (HRI) is the future of robotics. It is essential in the expanding markets, such as surgical, medical, and therapy robots. However, existing industrial systems can also benefit from safe and effective HRI. Many robots are now being fitted with joint torque sensors to enable effective human-robot collision detection. Many existing and off-the-shelf industrial robotic systems are not equipped with these sensors. This work presents and demonstrates a method for effective collision detection on a system with motor current feedback instead of joint torque sensors. The effectiveness of this system is also evaluated by simulating collisions with human hands and arms. Joint torques are estimated from the input motor currents. The joint friction and hysteresis losses are estimated for each joint of an SIA5D 7 Degree of Freedom (DOF) manipulator. The estimated joint torques are validated by comparing to joint torques predicted by the recursive application of Newton-Euler equations. During a pick and place motion, the estimation error in joint 2 is less than 10 Newton meters. Acceleration increased the estimation uncertainty resulting in estimation errors of 20 Newton meters over the entire workspace. When the manipulator makes contact with the environment or a human, the same technique can be used to estimate contact torques from motor current. Current-estimated contact torque is validated against the calculated torque due to a measured force. The error in contact force is less than 10 Newtons. Collision detection is demonstrated on the SIA5D using estimated joint torques. The effectiveness of the collision detection is explored through simulated collisions with the human hands and arms. Simulated collisions are performed both for a typical pick and place motion as well as trajectories that transverse the entire workspace. The simulated forces and pressures are compared to acceptable maximums for human hands and arms. During pick and place motions with vertical and lateral end effector motions at 10mm/s and 25mm/s, the maximum forces and pressures remained below acceptable levels. At and near singular configurations some collisions can be difficult to detect. Fortunately, these configurations are generally avoided for kinematic reasons. / text

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