Human-Inspired Robotic Eye-Hand Coordination Enables New Communication Channels Between Humans and Robots
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Human-Inspired Robotic Eye-Hand Coordination Enables New Communication Channels Between Humans and Robots Stephanie Olson1 · Moaed Abd1 · Erik D. Engeberg1 Accepted: 20 August 2020 © Springer Nature B.V. 2020
Abstract This paper concerns human-inspired robotic eye-hand coordination algorithms using custom built robotic eyes that were interfaced with a Baxter robot. Eye movement was programmed anthropomorphically based on previously reported research on human eye-hand coordination during grasped object transportation. Robotic eye tests were first performed on a component level where accurate position and temporal control were achieved. Next, 11 human subjects were recruited to observe the novel robotic system to quantify the ability of robotic eye-hand coordination algorithms to convey two kinds of information to people during object transportation tasks: first, the transported object’s delivery location and second, the level of care exerted by the robot to transport the object. Most subjects correlated decreased frequency in gaze fixations on an object’s target location with increased care of transporting an object, although these results were somewhat mixed among the 11 human subjects. Additionally, the human subjects were able to reliably infer the delivery location of the transported object purely by the robotic eye-hand coordination algorithm with an overall success rate of 91.4%. These results suggest that anthropomorphic eye-hand coordination of robotic entities could be useful in pedagogical or industrial settings. Keywords Robotics · Animatronics · Eye-hand coordination · Human–robot interaction
1 Introduction A wealth of information can be communicated between people using eye movements. Currently, robotic eyes do not possess all the capabilities of human eyes, which is a limitation in human–robot interaction where realistic eyes are important to positively impact human perception of the robot [1]. Nevertheless, there have been several studies on the impact of robotic eye motions in social robotics. The use of human-like gaze in robots was found to increase a robot’s persuasive ability as a storyteller and speed up a handoff task from robot to human [2, 3]. However, one study in which a robot attempted to influence a subject’s answer in a guessing game found gender might have influenced which types of gaze, such as averted or constant, were effective [4]. Electronic supplementary material The online version of this article (https://doi.org/10.1007/s12369-020-00693-2) contains supplementary material, which is available to authorized users.
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Erik D. Engeberg [email protected] Department of Ocean and Mechanical Engineering, Florida Atlantic University, Boca Raton, FL, USA
To compare the effects of realism in different media, one study analyzed the performance of three characters (one robotic, one animated and one human) whose eyes were only visible to test subjects [5]. The robot was seen as more credible, informative, and engaging than the animated character and rated comparable to the human in all c
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