Special purpose service robots have already entered the market and their users’ homes. Also the idea of the general purpose service robot or personal robot companion is increasingly discussed and investigated. To probe human–robot interaction with a mobile robot in arbitrary domestic settings, we conducted a study in eight different homes. Based on previous results from laboratory studies we identified particular interaction situations which should be studied thoroughly in real home settings. Based upon the collected sensory data from the robot (...) we found that the different environments influenced the spatial management observable during our subjects’ interaction with the robot. We also validated empirically that the concept of spatial prompting can aid spatial management and communication, and assume this concept to be helpful for Human–Robot Interaction design. In this article we report on our exploratory field study and our findings regarding, in particular, the spatial management observed during show episodes and movement through narrow passages. Keywords: COGNIRON, Domestic Service Robotics, Robot Field Trial, Human Augmented Mapping, Human–Robot Interaction, Spatial Management, Spatial Prompting. (shrink)

A mobile service robot performing a task for its user might not be able to accomplish its mission without help from other people present in the shared environment. In previous research, collaborative control has been studied as an interactive mode of operation with a robot, compensating for its limitations in autonomy. However, few studies of robots requesting assistance by detecting potential collaborators, directing its attention to them, addressing them, and finally obtaining help from them, have previously been performed in real-world (...) use contexts. This study focuses on a fetch-and-carry robot, Cero, which has been designed to operate in an office environment as an aid for motion-impaired users. During its missions, the robot sometimes needs help with loading or unloading an object. The main question for the study was: under what conditions are people willing to help when requested to do so by the robot? We were particularly interested in bystanders, i.e. people who happened to be in the environment but who did not “have any official business” with the robot. To answer these questions and to provide a better understanding of human–robot help-seeking situations, we conducted an experimental study in which subjects who had not encountered our service robot before were requested to assist it with a task. The results of the study confirm that bystanders can to some degree be expected to help in robot missions, but that their willingness to help the robot depends on the situation and state of occupation that people are in when requested to interact with and assist the robot. (shrink)

A mobile service robot performing a task for its user might not be able to accomplish its mission without help from other people present in the shared environment. In previous research, collaborative control has been studied as an interactive mode of operation with a robot, compensating for its limitations in autonomy. However, few studies of robots requesting assistance by detecting potential collaborators, directing its attention to them, addressing them, and finally obtaining help from them, have previously been performed in real-world (...) use contexts. This study focuses on a fetch-and-carry robot, Cero, which has been designed to operate in an office environment as an aid for motion-impaired users. During its missions, the robot sometimes needs help with loading or unloading an object. The main question for the study was: under what conditions are people willing to help when requested to do so by the robot? We were particularly interested in bystanders, i.e. people who happened to be in the environment but who did not “have any official business” with the robot. To answer these questions and to provide a better understanding of human–robot help-seeking situations, we conducted an experimental study in which subjects who had not encountered our service robot before were requested to assist it with a task. The results of the study confirm that bystanders can to some degree be expected to help in robot missions, but that their willingness to help the robot depends on the situation and state of occupation that people are in when requested to interact with and assist the robot. (shrink)

In this paper, we focus on spatial formations when interacting via mobile robotic telepresence systems. Previous research has found that those who used a MRP system to make a remote visit tended to use different spatial formations from what is typical in human-human interaction. In this paper, we present the results of a study where a pilot user interacted with ten elderly via a MRP system. Intentional deviations from known accepted spatial formations were made in order to study their effect (...) on interaction quality from the local user perspective. Using a retrospective interviews technique, the elderly commented on the interaction and confirmed the importance of adhering to acceptable spatial configurations. The results show that there is a mismatch between pilot user behaviour and local user preference and that it is important to evaluate a MRP system from two perspectives, the pilot user’s and the local user’s. Keywords: F-formations; Mobile Robotic Telepresence; MRP systems; Quality of Interaction; Retrospective Interview; Spatial Formations; Spatial Configurations. (shrink)

In this paper, we focus on spatial formations when interacting via mobile robotic telepresence systems. Previous research has found that those who used a MRP system to make a remote visit tended to use different spatial formations from what is typical in human-human interaction. In this paper, we present the results of a study where a pilot user interacted with ten elderly via a MRP system. Intentional deviations from known accepted spatial formations were made in order to study their effect (...) on interaction quality from the local user perspective. Using a retrospective interviews technique, the elderly commented on the interaction and confirmed the importance of adhering to acceptable spatial configurations. The results show that there is a mismatch between pilot user behaviour and local user preference and that it is important to evaluate a MRP system from two perspectives, the pilot user’s and the local user’s. Keywords: F-formations; Mobile Robotic Telepresence; MRP systems; Quality of Interaction; Retrospective Interview; Spatial Formations; Spatial Configurations. (shrink)

In this paper, we focus on spatial formations when interacting via mobile robotic telepresence systems. Previous research has found that those who used a MRP system to make a remote visit tended to use different spatial formations from what is typical in human-human interaction. In this paper, we present the results of a study where a pilot user interacted with ten elderly via a MRP system. Intentional deviations from known accepted spatial formations were made in order to study their effect (...) on interaction quality from the local user perspective. Using a retrospective interviews technique, the elderly commented on the interaction and confirmed the importance of adhering to acceptable spatial configurations. The results show that there is a mismatch between pilot user behaviour and local user preference and that it is important to evaluate a MRP system from two perspectives, the pilot user’s and the local user’s. Keywords: F-formations; Mobile Robotic Telepresence; MRP systems; Quality of Interaction; Retrospective Interview; Spatial Formations; Spatial Configurations. (shrink)