Is Automation Appropriate? Semi-autonomous Telepresence Architecture Focusing on Voluntary and Involuntary Movements
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Is Automation Appropriate? Semi-autonomous Telepresence Architecture Focusing on Voluntary and Involuntary Movements Masahiko Osawa1
· Kohei Okuoka1 · Yusuke Takimoto1 · Michita Imai1
Accepted: 2 January 2020 © The Author(s) 2020
Abstract This research aims to clarify the type of autonomous movements appropriate for telepresence robots. The design of telepresence robots’ autonomous movements should take into account both local and remote users. From the perspective of local users, we need autonomous movements that enhance a social telepresence in order to smooth remote communication. On the other hand, from the perspective of remote users, autonomous movements should be considered not only to reduce the operation load but also to address the danger of causing discomfort. However, in previous studies on automation, the criteria about which type of movements should be automated has remained unsettled. In this paper, we focused on voluntary and intentional movements as a classification type of movements that can be the criteria. Voluntary movements are intentional movements, whereas involuntary movements are movements without intention. To verify the effect of the automation of these movements, we developed a semi-autonomous telepresence robot that automates voluntary and involuntary movements. Then, we evaluated the impressions from local and remote users by conducting two experiments from each perspective. As a result, when not used in excess, local users evaluated both voluntary and involuntary autonomous movements positively, while it was suggested that automation of voluntary movements for remote users should be implemented with care. Keywords Telepresence robot · Automation · Voluntary · Involuntary
1 Introduction In remote communication, maintaining a high social presence [4,23] is important to ensure that communication flows smoothly, similar to face-to-face communication. Recent studies have shown that social presence can be improved by using video along with audio in remote communication [4,13]. However, the presence of remote participants in a conference setting may be overlooked, even with video. This fact suggests that remote communication with video fails to sufficiently present the presence of remote participants [7,14]. Therefore, telepresence robots for remote communication have been attracting attention. However, since remote users have to operate the robot while talking, they cannot concentrate on their communication. Therefore, the operation load on remote users when using telepresence robots is a serious problem. Here, a remote
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Masahiko Osawa [email protected] 3-14-1, Hiyoshi, Kohoku-ku, Yokohama-shi, Kanagawa, Japan
user is a person who is remotely connected to a robot via a computer interface. In addition, a local user is a user that is situated in the same physical location as the robot. There are two typical approaches of reducing the operation load on remote users: One involves the recognition of the motion of the remote user through motion capture with a robot that autom
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