Are preferences useful for better assistance? A physically assistive robotics user study
Cita com:
hdl:2117/361979
Tipus de documentArticle
Data publicació2021
EditorAssociation for Computing Machinery (ACM)
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
ProjecteCLOTHILDE - CLOTH manIpulation Learning from DEmonstrations (EC-H2020-741930)
ENTENDER EL MOVIMIENTO HUMANO PARA ADAPTAR EL COMPORTAMIENTO DE UN ROBOT (AEI-TIN2017-90086-R)
ENTENDER EL MOVIMIENTO HUMANO PARA ADAPTAR EL COMPORTAMIENTO DE UN ROBOT (AEI-TIN2017-90086-R)
Abstract
Assistive Robots have an inherent need of adapting to the user they are assisting. This is crucial for the correct development of the task, user safety, and comfort. However, adaptation can be performed in several manners. We believe user preferences are key to this adaptation. In this paper, we evaluate the use of preferences for Physically Assistive Robotics tasks in a Human-Robot Interaction user evaluation. Three assistive tasks have been implemented consisting of assisted feeding, shoe-fitting, and jacket dressing, where the robot performs each task in a different manner based on user preferences. We assess the ability of the users to determine which execution of the task used their chosen preferences (if any). The obtained results show that most of the users were able to successfully guess the cases where their preferences were used even when they had not seen the task before. We also observe that their satisfaction with the task increases when the chosen preferences are employed. Finally, we also analyze the user’s opinions regarding assistive tasks and preferences, showing promising expectations as to the benefits of adapting the robot behavior to the user through preferences.
Descripció
© 2021 Copyright held by the owner/author(s).
CitacióCanal, G.; Torras, C.; Alenyà, G. Are preferences useful for better assistance? A physically assistive robotics user study. "ACM transactions on human-robot interaction", 2021, vol. 10, núm. 4, p. 1-19.
ISSN2573-9522
Versió de l'editorhttps://dl.acm.org/doi/10.1145/3472208
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