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HRI 2010 — Young Pioneers Workshop — The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch
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HRI 2010 — Young Pioneers Workshop — The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch

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The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch. Presented at the Young Pioneers Workshop at HRI '10: The 5th ACM/IEEE International Conference on Human-Robot ...

The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch. Presented at the Young Pioneers Workshop at HRI '10: The 5th ACM/IEEE International Conference on Human-Robot Interaction. Osaka, Japan; March 2-5 2010. More info at http://yohanan.org/steve/projects/haptic-creature/.

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  • Draw from seemingly disparate research areas Will discuss SIR + Affect then Touch + HAI
  • SIR is HRI where social interaction plays a key role unlike conventional HRI (teleoperation) Affect display is important aspect of social interaction Affect display is the external manifestation of internal emotional state Human affect display studies concentrate on visual and auditory modalities: facial expression, speech prosody SIR has followed in-kind
  • Touch has seen much less attention Touch is unique: - skin is largest sense organ & first to develop - major role in early development - touch is proximal, requiring direct physical contact Reiterate affective touch definition Problems with general studies of touch: - gender, social status, familiarity, culture Draw inspiration from HAI: - less loaded - wealth of non-verbal communication - human-animal bond

Transcript

  • 1. Steve YohananKaron MacLeanSPIN Research GroupDept of Computer ScienceUniversity of British ColumbiaVancouver CanadaThe Haptic Creature ProjectSocial Human-Robot Interactionthrough Affective Touch
  • 2. HRI 2010 Young Pioneers Workshop - Steve Yohanan 2Overview● Background● Research Questions● The Haptic Creature● User Studies
  • 3. HRI 2010 Young Pioneers Workshop - Steve Yohanan 3Overview➢ Background● Research Questions● The Haptic Creature● User Studies Research Areas SIR & Affect Display Affective Touch & HAI
  • 4. HRI 2010 Young Pioneers Workshop - Steve Yohanan 4BackgroundResearch Areas
  • 5. HRI 2010 Young Pioneers Workshop - Steve Yohanan 5BackgroundSocially Interactive Robotics & Affect DisplayFacial Expression, Speech ProsodyFACS (Ekman)FACS (Ekman) Kismet (Breazeal)Kismet (Breazeal)
  • 6. HRI 2010 Young Pioneers Workshop - Steve Yohanan 6BackgroundAffective Touch & Human-Animal InteractionModality Much Less Studied
  • 7. HRI 2010 Young Pioneers Workshop - Steve Yohanan 7Overview● Background➢ Research Questions● The Haptic Creature● User Studies Expression Recognition Influence
  • 8. HRI 2010 Young Pioneers Workshop - Steve Yohanan 8Research QuestionsExpression● In what manner might a robot express its emotionalstate through touch to a human?● In what manner might a human express his/heremotional state through touch to a robot?
  • 9. HRI 2010 Young Pioneers Workshop - Steve Yohanan 9Research QuestionsRecognition● Can a robot recognize a humans touch gestures?– Can these gestures be used to infer the emotional state of ahuman?● Can a human recognize a robots emotional statethrough touch?
  • 10. HRI 2010 Young Pioneers Workshop - Steve Yohanan 10Research QuestionsInfluence● How does the interaction between human and robot(through affective touch) influence the human?
  • 11. HRI 2010 Young Pioneers Workshop - Steve Yohanan 11Overview● Background● Research Questions➢ The Haptic Creature● User Studies Design Considerations Hardware Software Emotion Model Related Robots
  • 12. HRI 2010 Young Pioneers Workshop - Steve Yohanan 12The Haptic CreatureDesign ConsiderationsTouch, Organic, Zoomorphism
  • 13. HRI 2010 Young Pioneers Workshop - Steve Yohanan 13The Haptic CreatureHardware
  • 14. HRI 2010 Young Pioneers Workshop - Steve Yohanan 14The Haptic CreatureHardware
  • 15. HRI 2010 Young Pioneers Workshop - Steve Yohanan 15The Haptic CreatureSoftwareHigher-Order Processing on Host Computer
  • 16. HRI 2010 Young Pioneers Workshop - Steve Yohanan 16The Haptic CreatureEmotion ModelCircumplex Model of Affect (Russell 1980)
  • 17. HRI 2010 Young Pioneers Workshop - Steve Yohanan 17The Haptic CreatureRelated RobotsZoomorphism, Affect, TouchParo (Shibata)Paro (Shibata)Huggable (MIT)Huggable (MIT)Aibo (Sony)Aibo (Sony)Probo (VUB)Probo (VUB)
  • 18. HRI 2010 Young Pioneers Workshop - Steve Yohanan 18Overview● Background● Research Questions● The Haptic Creature➢ User Studies InteractionDecomposition Preliminary Investigation Human Affect Display Creature Affect Display Influence of AffectiveTouch
  • 19. HRI 2010 Young Pioneers Workshop - Steve Yohanan 19User StudiesInteraction Decomposition
  • 20. HRI 2010 Young Pioneers Workshop - Steve Yohanan 20User StudiesPreliminary InvestigationAffective Touch Proof of Concept
  • 21. HRI 2010 Young Pioneers Workshop - Steve Yohanan 21User StudiesPreliminary InvestigationThe Hapticat● Wizard of Oz puppet● Same degrees of freedomas Haptic Creature● Hand actuated● No touch sensing
  • 22. HRI 2010 Young Pioneers Workshop - Steve Yohanan 22User StudiesPreliminary InvestigationResearch Questions Addressed● Expression– In what manner might a robot express its emotional statethrough touch to a human?● Recognition– Can a human recognize a robots emotional state throughtouch?● Influence– How does the interaction between human and robot (throughaffective touch) influence the human?
  • 23. HRI 2010 Young Pioneers Workshop - Steve Yohanan 23User StudiesPreliminary InvestigationResults● Some agreement between our pre-determinedmapping and participants mapping of gesture tocreature affective response.● Participants accurately recognized 3 of 5 creaturesaffective states: upset, playing dead, asleep.Confused happy and content.● Observed shift in participants affective state as aresult of the interaction.
  • 24. HRI 2010 Young Pioneers Workshop - Steve Yohanan 24User StudiesHuman Affect DisplayCreature Recognition of Human Affect
  • 25. HRI 2010 Young Pioneers Workshop - Steve Yohanan 25User StudiesHuman Affect DisplayResearch Questions Addressed● Expression– In what manner might a human express his/her emotionalstate through touch to a robot?● Recognition– Can a robot recognize a humans touch gestures?– Can these gestures be used to infer the emotional state of ahuman?
  • 26. HRI 2010 Young Pioneers Workshop - Steve Yohanan 26User StudiesHuman Affect DisplayBarrett-Russell Emotion Measure (1998)ActivatedarousedalerthyperactivatedUnpleasantmiserabletroubledunhappyDeactivatedsleepystillquietPleasanthappypleasedcontent
  • 27. HRI 2010 Young Pioneers Workshop - Steve Yohanan 27User StudiesHuman Affect Display1. contact, no movement2. fingers, idle movement3. grab4. hit5. hold6. hug7. kiss8. lift9. massage10. nuzzle21. slap22. squeeze23. stroke24. swing25. tap26. tickle27. toss28. trembleTouch Dictionary11. pat12. pick13. pinch14. poke15. press16. pull17. push18. rub19. scratch20. shake
  • 28. HRI 2010 Young Pioneers Workshop - Steve Yohanan 28User StudiesHuman Affect DisplayProcedure● Participants will be presented with an emotion word groupalongside the touch dictionary.● Participants will rank the likelihood that s/he would use eachform of touch to communicate the particular emotion (group).● Participants will then perform a subset of these gesturescommunicating the emotion, so that sensor data can berecorded.● Repeat for all emotion word groups.
  • 29. HRI 2010 Young Pioneers Workshop - Steve Yohanan 29User StudiesHuman Affect DisplayAffect Communication and Data Capture● Affect Communication– Participants will perform each gesture. They will providefeedback as to which emotion they are conveying.● Data Capture– Participants perform each gesture solely for purposes ofrecording sensor data. Data will be used for refinement ofthe Recognizer. We do not intend to be able to accuratelyrecognize all gestures, but still want to record them all.
  • 30. HRI 2010 Young Pioneers Workshop - Steve Yohanan 30User StudiesCreature Affect DisplayHuman Recognition of Creature Affect
  • 31. HRI 2010 Young Pioneers Workshop - Steve Yohanan 31User StudiesCreature Affect DisplayResearch Questions Addressed● Expression– In what manner might a robot express its emotional statethrough touch to a human?● Recognition– Can a human recognize a robots emotional state throughtouch?
  • 32. HRI 2010 Young Pioneers Workshop - Steve Yohanan 32User StudiesCreature Affect DisplayProcedure● Creature presents 25different emotions● Participants rank eachusing 12 emotion words(Barrett-Russell 1998)● Repeated 3 times
  • 33. HRI 2010 Young Pioneers Workshop - Steve Yohanan 33User StudiesInfluence of Affective TouchHuman Influenced by Interaction
  • 34. HRI 2010 Young Pioneers Workshop - Steve Yohanan 34User StudiesInfluence of Affective TouchResearch Questions Addressed● Influence– How does the interaction between human and robot (throughaffective touch) influence the human?
  • 35. HRI 2010 Young Pioneers Workshop - Steve Yohanan 35User StudiesInfluence of Affective TouchManipulating the Creatures Response● Observe any changes in emotional state of the humanwhen the robot presents a response that is:– mirrored– sympathetic– opposed– random– inactive
  • 36. HRI 2010 Young Pioneers Workshop - Steve Yohanan 36Thank YouQuestions?