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International Conference on Social Robotics

ICSR 2017: Social Robotics pp 587–596Cite as

Hand in Hand with Robots: Differences Between Experienced and Naive Users in Human-Robot Handover Scenarios

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10652))

Abstract

Service robots are expected to closely interact with humans in the near future. Their tasks often include delivering and taking objects. Thus, handover scenarios play an important role in human-robot-interaction. A lot of work in this field of research focuses on speed, accuracy and predictability of the robot’s movement during object handover. Those robots need to closely interact with naive users and not only experts. In order to evaluate handover interaction performance between human and robot a force measurement based approach was implemented on the humanoid robot Floka. Different gestures with the second arm were added to analyze the influence on synchronization, predictability, and human acceptance. In this paper we present a study where users with different levels of experience were asked to help the robot to learn new objects. We evaluated the impact of previous knowledge with robots on handover interactions. Disparities in timing, distance, and applied force during handover could be observed. We present an automated annotation pipeline for human-robot-interaction that will be used in future studies. While the commonly used force measurement based approach proved to be a valid starting point, our results show that naive user interaction could benefit from better anticipation.

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Acknowledgments

This research/work was supported by the Cluster of Excellence Cognitive Interaction Technology ‘CITEC’ (EXC 277) at Bielefeld University, which is funded by the German Research Foundation (DFG).

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Authors and Affiliations

  1. Exzellenzcluster Cognitive Interaction Technology (CITEC), Bielefeld University, Inspiration 1, 33619, Bielefeld, Germany

    Sebastian Meyer zu Borgsen, Jasmin Bernotat & Sven Wachsmuth

Authors
  1. Sebastian Meyer zu Borgsen
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  2. Jasmin Bernotat
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  3. Sven Wachsmuth
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Corresponding author

Correspondence to Sebastian Meyer zu Borgsen .

Editor information

Editors and Affiliations

  1. CNRS-AIST JRL, Tsukuba, Japan

    Abderrahmane Kheddar

  2. CNRS-AIST JRL, Tsukuba, Japan

    Eiichi Yoshida

  3. The National University of Singapore, Singapore, Singapore

    Shuzhi Sam Ge

  4. University of Tsukuba, Tsukuba, Japan

    Kenji Suzuki

  5. Qatar University, Doha, Qatar

    John-John Cabibihan

  6. CITEC, Bielefeld, Germany

    Friederike Eyssel

  7. Wichita State University, Wichita, Kansas, USA

    Hongsheng He

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Meyer zu Borgsen, S., Bernotat, J., Wachsmuth, S. (2017). Hand in Hand with Robots: Differences Between Experienced and Naive Users in Human-Robot Handover Scenarios. In: Kheddar, A., et al. Social Robotics. ICSR 2017. Lecture Notes in Computer Science(), vol 10652. Springer, Cham. https://doi.org/10.1007/978-3-319-70022-9_58

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  • DOI: https://doi.org/10.1007/978-3-319-70022-9_58

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-70021-2

  • Online ISBN: 978-3-319-70022-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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