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Exploring the Recommendation Expressions of Multiple Robots Towards Single-Operator-Multiple-Robots Teleoperation

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Human-Computer Interaction (HCII 2023)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 14013))

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Abstract

In recent years, teleoperated robots have become popular for providing services in remote locations. Although a single teleoperated robot is used in actual applications, it may not provide sufficient services to customers because of the lack of the robot’s expressiveness and pressure. It has been reported that multiple robot collaboration can enhance the robot’s expressiveness. However, the types of collaborative expressions of multiple robots that can effectively enhance the robot’s influence have not been investigated. This study aimed to enumerate and organize expressions with multiple robots and expressive attributes furthermore, to reveal expressions that can contribute to enhancing a robot’s influence. We successfully identified four fundamental expressive attributes from many expression ideas and created 22 representative expressions by combining all expressive attributes. We investigated the expressions in a general recommendation situation using a web survey. We revealed that certain expressions can enhance the expression of the robot’s influence. These results provided new insights into the design of expressions using multiple robots.

This work was supported by JST Moonshot R &D Grant Number JPMJMS2011.

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Author information

Authors and Affiliations

  1. Graduate School of Engineering Science, Osaka University, 1 Machikane-cho, Toyonaka, Osaka, Japan

    Yota Hatano, Jun Baba, Junya Nakanishi, Yuichiro Yoshikawa & Hiroshi Ishiguro

  2. AI Lab, CyberAgent Inc., 40-1, Udogawa-cho, Shibuya, Tokyo, Japan

    Jun Baba

Authors
  1. Yota Hatano
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  2. Jun Baba
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  3. Junya Nakanishi
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  4. Yuichiro Yoshikawa
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  5. Hiroshi Ishiguro
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Corresponding author

Correspondence to Yota Hatano .

Editor information

Editors and Affiliations

  1. The Open University of Japan, Chiba, Japan

    Masaaki Kurosu

  2. Hosei University, Tokyo, Japan

    Ayako Hashizume

Appendices

A Expressions and Expressive attributes

Table 5. Expressions and their expressive attribute value
Full size table

B Images of Expressions

Fig. 4.
figure 4

The Images of 22 expressions we obtained.

Full size image

C Detail descriptions of Expressions

  • Echo

    All robots are set up close to each other and speak to the users simultaneously. All the robots convey the same message.

  • Peer Pressure

    All robots are set up close to each other and speak to the users. All the robots convey the same intention.

  • Simultaneous announcement

    All robots are set up at a distance from each other and speak to the users simultaneously. All the robots convey the same message.

  • Sequential persuasion

    All robots are set up at a distance from each other and speak to the users. All the robots convey the same intention to the user who passed in front of them.

  • Interlude

    All robots are set up close to each other and speak to the users. One robot conveys an intention and the other robots join in with the robot’s statement.

  • Simultaneous announcement with gathered attention

    All robots are set up at a distance from each other and speak simultaneously. One robot conveys an intention to the users, and the others make users pay attention to that robot.

  • Being left out

    All robots are set up close to each other and speak to users. One robot conveys an intention, whereas the others convey a refutational intention to exclude the robot from a group and evoke the sympathy of users.

  • Simultaneous announcement with opposition

    All robots are set up at a distance from each other and speak to the users simultaneously. One robot conveys an intention, whereas the others convey a refutational intention.

  • Angels and demons

    All robots are set up close to each other and speak to users. One robot conveys an intention, another conveys a refutational intention, and the other conveys a favorable intention.

  • Simultaneous announcement with bilateral presentation

    All robots are set up at a distance from each other and speak to the users simultaneously. One robot conveys an intention, another conveys a refutational intention, and the other conveys a favorable intention.

  • Autonomous follow-up

    All robots are set up close to each other and speak to the users. One robot conveys an intention and others follow up with, such as “Did you understand that?” when there is a pose during the conversation.

  • Reaction

    All robots are set up close to each other and speak to the users. One robot conveys an intention and others take reactions towards the users.

  • Split of work

    All robots are set up close to each other and speak to the users. All the robots divide and execute tasks such as chatting, explaining, and guiding.

  • Parallel announcement

    All robots are set up at a distance from each other and speak to the users simultaneously. All the robots convey different and unrelated intentions.

  • Unison

    All robots are set up close to each other and speak to each other simultaneously. All the robots create empathy by aligning voices in the middle of a conversation.

  • Private consultation

    All robots are set up close to each other and speak to each other. All the robots show consulting with each other and convey the same intention.

  • Leader

    All robots are set up close to each other and speak to each other. One robot conveys an intention and explains it to the other robots and the others agree with the robot.

  • Sympathy Induction

    All robots are set up close to each other and speak to each other . One robot conveys an intention, whereas others convey a refutational intention to exclude the robot from a group and evoke the sympathy of users.

  • Double negative

    All robots are set up close to each other and speak to each other. One robot conveys an intention, another conveys a refutational intention, the other conveys a favorable intention.

  • No confidence

    All robots are set up close to each other and speak to each other. One robot conveys an intention and others worry about each other if their intentions have been conveyed to the users.

  • Reaction between robots

    All robots are set up close to each other and speak to each other. One robot conveys an intention and others take reactions towards that.

  • Raising topic

    All robots are set up close to each other and speak to each other. One robot conveys an intention and others raise topics to continue the conversation.

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Hatano, Y., Baba, J., Nakanishi, J., Yoshikawa, Y., Ishiguro, H. (2023). Exploring the Recommendation Expressions of Multiple Robots Towards Single-Operator-Multiple-Robots Teleoperation. In: Kurosu, M., Hashizume, A. (eds) Human-Computer Interaction. HCII 2023. Lecture Notes in Computer Science, vol 14013. Springer, Cham. https://doi.org/10.1007/978-3-031-35602-5_4

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  • DOI: https://doi.org/10.1007/978-3-031-35602-5_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-35601-8

  • Online ISBN: 978-3-031-35602-5

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