Zachary Henkel

Evaluation of Proxemic Scaling Functions for Social Robotics

This paper introduces and empirically evaluates two scaling functions to alter a robots physical movements based on proximity to a human. Previous research has focused on individual aspects of proxemics, like the appropriate distance to maintain from a human, but has not explored autonomous methods to adapt robot behavior as proximity changes. This paper proposes that robots in a social role should modify their behavior using a continuous function mapped to proximity. The method developed calculates a gain value from proximity readings, which is used to shape the execution of active behaviors on the robot. In order to identify the effects of different mappings from proximity to gain value, two different scaling functions were implemented on an affective search and rescue robot. The findings from a 72 participant study, in a high-fidelity mock disaster site, are examined with attention given to a new measure to determine proxemic awareness. The results indicated that for attributes of intelligence, likability, proxemic awareness, and submissiveness, a logarithmic-based scaling function is preferred over a linear-based scaling function, and over no scaling function. In areas of participant comfort and participant stress, the results indicated both logarithmic and linear scaling functions were preferred to no scaling.

Exploring computer science through autonomous robotics

Declining student populations in the Computer Science field coupled with a growing demand creates the need for higher attraction rates. We examine new techniques for exposing high school students to the Computer Science field through the use of a Java-based autonomous robotics curriculum. This curriculum, designed by researchers to function as a means for conveying basic concepts during a limited engagement time, raises students with no prior knowledge of Computer Science to a level of comfort with both basic and advanced concepts within five sessions. Emphasis is placed on object-oriented design, behavior based programming, and autonomous operation of robots. The curriculum, structured into knowledge blocks which build on each other, provides students with clear goals and achievements during each session. Students work extensively with controlling robotic motors, sensors, and output devices through their own programs. Ultimately, students are asked to combine all of their learned knowledge by programming their robot to utilize behavior-based techniques to autonomously navigate a maze. Both quantitative and qualitative results have indicated significant knowledge gain, continued interest in the Computer Science field, and a great deal of enthusiasm from students participating in a program which utilized this curriculum.

Using robots to interview children about bullying: Lessons learned from an exploratory study

This article describes the results of a study that compares disclosure occurrences of bullying from children (ages 8 to 12) to either a human or a social robot. Results from an orally administered questionnaire to 60 children, split evenly between human and robotic interviewers, revealed that few significant differences in reporting were encountered between interviewer types. Overall 9 of 60 (15%) of participants reported being bullied in the past month. Participants were significantly more likely to report that fellow students were teased about their looks to the robot interviewer in comparison to the human interviewer. In addition to the examination of these results, a discussion of lessons learned for future studies of this nature are provided.

Towards a computational method of scaling a robot's behavior via proxemics

Humans regulate their social behavior based on proximity to other social actors. Likewise, when a robot fulfills the role of a social actor it too should regulate its interaction based on proximity. This paper describes work in progress to establish methods for autonomous modification of social behavior based on proximity and to quantify human preferences between methods of scaling a robots social behaviors based on distance from a human. The preliminary results of a 72 participant human study examine the reaction to scaling with linear methods and perception-based methods. Results indicate significantly higher ratings in multiple areas (comfort, natural movement, safety, self-control, intelligence, likability, submissiveness p<;.05) when using a perception-based scaling function, as opposed to a linear or no scaling function. Work in progress is analyzing the biometric measures collected.

Survivor buddy: a social medium robot

Summary form only given. This video describes the Survivor Buddy social medium robot.

A multi-disciplinary design process for affective robots: Case study of Survivor Buddy 2.0

Designing and constructing affective robots on schedule and within costs is especially challenging because of the qualitative, artistic nature of affective expressions. Detailed affective design principles do not exist, forcing an iterative design process. This paper describes a three step design process created for the Survivor Buddy project that engages artists in the design process and allows animation to guide physical implementation. The process combines creative design of believable agents unconstrained by costs with traditional design decision matrices. The paper provides a case study comparing the resulting design of the Survivor Buddy 2.0 robot with the original (Survivor Buddy 1.0). The multi-disciplinary methodology produced a more pleasing and expressive robot that was 50% less expensive, 78% lighter, and up to 700% faster within the same amount of design time. This methodology is expected to contribute to reducing risk in designing cost-effective affective robots and robots in general.

Sky writer: sketch-based collaboration for UAV pilots and mission specialists

Sky Writer is a collaborative communication medium that augments the traditional display of a UAV pilot and allows other stakeholders to communicate their needs and intentions to the pilot. UAV pilots engaging in time-critical missions, such as urban disaster responses, often must allocate most of their cognitive capacity towards flight tasks, making communication and collaboration with other stakeholders difficult or dangerous. Sky Writer addresses the needs of stakeholders while requiring minimal cognitive effort from the UAV pilot. The application presents stakeholders with an interface that provides contextual flight information and a live video stream of the flight. Stakeholders are able to sketch directly on the video stream or use a spotlight indicator that is mirrored across all displays in the system, including the pilots display. The application can be used in any modern web browser and works with traditional and touch devices. Concept experimentation performed at Disaster City with two pilots indicated that the spotlight feature was particularly useful while the UAV was in motion, and the sketching features were most useful while the UAV was stationary. The system will be tested with professional responders soon to determine its efficacy in a simulated response, and to inform the ongoing design process.

Interacting with trapped victims using robots

The paper reports on a discovery field exercise used to examine how disaster responders can use an audio and video equipped robot to interact with a trapped victim. In the exercise, a small robot with two-way video and audio communication was inserted into a physically simulated building collapse next to a trapped victim, and was provided to a team of trained responders as a means for performing remote triage and victim monitoring. The interaction between the responders and the victim was examined, with emphasis on how the responders adapted to different video and audio capabilities, and how they might have responded to different populations and injuries that may limit communication. The ad hoc interaction protocols used by the responders were observed in the field exercise, and four interaction schemes were identified: Two-way Video with Two-way Audio, One-way Video (from Robot to Responders) with Two-way Audio, Two-way Video with no Audio, and One-way Video (from Robot to Responders) with no audio. The interaction schemes are defined according to the minimum capabilities of the robot and victim, the requirements of the responders, and preliminary protocols required for each interaction scheme. From observations made about the exercise, the paper identifies minimalistic interfaces and transparency of robot state as key areas for improving a robot-mediated interaction between responders and victims.

A toolkit for exploring the role of voice in human-robot interaction

This paper describes an open source speech translator toolkit created as part of the “Survivor Buddy” project which allows written or spoken word from multiple independent controllers to be translated into either a single synthetic voice, synthetic voices for each controller, or unchanged natural voice of each controller. The human controllers can work over the internet or be physically co-located with the Survivor Buddy. The toolkit is expected to be of use for exploring voice in general human-robot interaction.

A Robot Forensic Interviewer: The BAD, the GOOD, and the Undiscovered

The goal of this paper is to begin a discussion of the benefits, challenges, and ethical concerns related to the use of robots as intermediaries for obtaining sensitive information from children within the human-robot interaction (HRI), criminology, sociology, legal, and psychological communities. This work examines how robots may impede disclosures from children, encourage inaccurate disclosures, facilitate unintended disclosures, provide a more reliable interviewer, decrease the likelihood of misleading children, and enhance forensic interviews through high fidelity data logging. Open research questions, proposed research studies, and pathways toward deployment of robots as forensic interviewers are provided. As HRI researchers working in an interdisciplinary team, with members trained by the National Child Advocacy Center in Child Forensic Interview Protocols, we believe sustaining a dialogue concerning the design and appropriate use of robots in this area is essential for continued progress.