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performance expectancy).
Fig. 15 – pointer with external tracking
The outcomes of a previous user study [22] led to a
technical revision of the HRI mechanisms of the first robot
prototype by incorporating the worker’s feedback. In the
current study the same workers tested the HRI mechanisms of
the revised robot and the findings were compared with the
previous version. Furthermore, it seems unlikely that the
results can be explained by practice effects, due to the period
of one year between the studies and the completely different
interaction methods. However, the findings of the current
study drove the last technical revision of the system (robot C,
D, E) which will feature improvements in ergonomics and be
evaluated in a final evaluation in 05/06 2017.
Collaboration can be improved by adding visual feedback
on the robot and the work piece during the teaching (to reduce
the burden of switching attention between the robot and touch
panel). [15] [16] introduce the notion Spatial Augmented
Reality (SAR) and describe it as enhancement or aggregation
of several Augmented Reality (AR) technologies. One
formulation [17] might be a depth camera projector based
system to project (correctly distorted) information on three
dimensional objects instead of flat screens (Figure 3) and may
be used for projection of buttons. (Applied) robotics does not
make use of SAR methods extensively. [18] introduces a
projection based safeguard system for robotic workspaces
especially for collaboratively used workspace. [19] gives an
overview on Tangible User Interfaces (TUI) which denote
interfaces that can be manipulated physically, and which have
an equivalent in the digital world and represent a mean for
interactive control. The project proposes a combination of
TUI and SAR methods. Hand-guided positioning of the robot
might be uncomfortable or time consuming due to
inappropriate input modalities (friction afflicted robot drives,
unintuitive touch screens,…). These were motivations for the
implementations of technologies integrated in robot C,D and
E and will be evaluated in the final evaluation in AssistMe.
The new HRI mechanisms of robot C, D and E will be
based on the paradigm of joint/shared attention, which
describes the shared focus of two individuals on an object.
Joint/shared attention is realized when one individual alerts
another to an object by verbal or non-verbal means such as
eye-gazing or pointing (gestures). The application of this
paradigm will result in gesture-based HRI mechanisms for
robot C. This design decision will shift human-robot
interaction towards the dynamics during human-human or
human-animal interactions. Therefore, we expect that this
approach will help to increase perceived safety, overall acceptance and to ease the transition of working with newly
introduced robots.
ACKNOWLEDGMENT
This research is funded by the project AssistMe (FFG,
848653), SIAM (FFG, 849971) and by the European Union
in cooperation with the State of Upper Austria within the
project “Investition in Wachstum und Beschäftigung” (IWB).
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50
Proceedings of the OAGM&ARW Joint Workshop
Vision, Automation and Robotics
- Titel
- Proceedings of the OAGM&ARW Joint Workshop
- Untertitel
- Vision, Automation and Robotics
- Autoren
- Peter M. Roth
- Markus Vincze
- Wilfried Kubinger
- Andreas MĂĽller
- Bernhard Blaschitz
- Svorad Stolc
- Verlag
- Verlag der Technischen Universität Graz
- Ort
- Wien
- Datum
- 2017
- Sprache
- englisch
- Lizenz
- CC BY 4.0
- ISBN
- 978-3-85125-524-9
- Abmessungen
- 21.0 x 29.7 cm
- Seiten
- 188
- Schlagwörter
- Tagungsband
- Kategorien
- International
- Tagungsbände