AISB 2008 — 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 AISB 2008 Symposium on the Reign of Catz & Dogz: The Second AISB Symposium on the Role of Virtual Creatures in a Computerised Society. Aberdeen, Scotland, UK; April 1-4 2008. More info at http://yohanan.org/steve/projects/haptic-creature/.
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AISB 2008 — The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch
- 1. The Haptic Creature Project Social Human-Robot Interaction through Affective Touch Steve Yohanan Karon E MacLean SPIN Research Group Dept of Computer Science University of British Columbia
- 2. Overview ● Introduction ● Background ● Haptic Creature ● User Studies ● Conclusion The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 2
- 3. Overview ➢ Introduction ● Affective Touch ● Background ● Human-Animal Interaction ● Haptic Creature ● User Studies ● Conclusion The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 3
- 4. Introduction Affective Touch “Touch that communicates or evokes emotion” ● Display, recognition, and influence ● Companionship ● Investigate use in social HRI The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 4
- 5. Introduction Human-Animal Interaction Our Approach ● Leverage HAI ● Construct a “Haptic Creature” ● Conduct user studies The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 5
- 6. Overview ● Introduction ➢ Background ● Haptic Creature ● User Studies ● Conclusion The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 6
- 7. Background Research Areas The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 7
- 8. Background Socially Interactive Robotics & Affect Display Facial Expression, Speech Prosody FACS (Ekman) Kismet (Breazeal) The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 8
- 9. Background Affective Touch & Human-Animal Interaction Modality Much Less Studied The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 9
- 10. Background Differentiation Zoomorphism, Affect, Touch Aibo (Sony) Huggable (Stiehl) Paro (Shibata) Probo (ANTY) The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 10
- 11. Background Differentiation Affect display centered around touch ● Recognition & expression chiefly through touch ● Lower degree of zoomorphism ● Role of affective touch in companionship The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 11
- 12. Overview ● Introduction Development Phases ● Background Architecture ➢ Haptic Creature ● User Studies ● Conclusion The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 12
- 13. Haptic Creature Development Phases ● Wizard of Oz Prototype ● Automated Prototype ● Final Creature The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 13
- 14. Haptic Creature Development Phases Wizard of Oz Prototype ● Breathing, purring, articulated ears, body warmth ● All elements hand actuated ● Preliminary investigation of affective touch and HAI The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 14
- 15. Haptic Creature Development Phases Automated Prototype ● Fully computer controlled ● Rapid testing of software, hardware, interaction techniques The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 15
- 16. Haptic Creature Development Phases Final Creature ● Reuse software components ● Install more robust sensors, actuators ● Deploy in field study The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 16
- 17. Haptic Creature Architecture The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 17
- 18. Haptic Creature Architecture Sensing and Actuation The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 18
- 19. Haptic Creature Architecture Higher-Order Processes The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 19
- 20. Overview ● Introduction Preliminary Investigation ● Background Interaction Decomposition ● Haptic Creature Companionship ● User Studies ● Conclusion The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 20
- 21. User Studies Preliminary Investigation Wizard of Oz in Action ● Can emotion be communicated clearly through haptic means? ● Does this communication affect the recipient? The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 21
- 22. User Studies Interaction Decomposition Additive Studies ● Divide interaction into component parts ● Study specific cells ● Subsequent studies between two cells The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 22
- 23. User Studies Companionship Longitudinal Field Study ● What is the role of affective touch on companionship? ● Is this mediated form successful? ● Study the effects of the interaction The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 23
- 24. Overview ● Introduction ● Background ● Haptic Creature ● User Studies ➢ Conclusion The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 24
- 25. Conclusion ● Investigate affective touch in social HRI ● Borrow from HAI ● Haptic Creature and related user studies The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 25
- 26. Thank You Questions? The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 26
Editor's Notes
- Introduce yourself, supervisor, lab State title of talk Note that this is PhD research
- General Overview
- Overview of Introduction
- Brief definition of affective touch Interested in... - display, recognition, influence of affective touch - how affective touch contributes to companionship - application of affective touch in social human-robot interaction
- Simply iterate through points on slide
- Overview of Background
- 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
- Filtered through the various research areas, several projects overlap with Haptic Creature Social robots combining touch interaction + animal-like form
- Primary differentiation is strong concentration on touch modaltiy Full-body touch sensing Affect display does not use facial expression or speech prosody Animal-like form but more amorphous
- Overview of Haptic Creature
- (Sub-)Overview.
- Status: complete Deployed in related user study Five emotional responses: playing dead, asleep, content, happy, upset Ten interactions: shake, leave alone, rub ears, pet (gentle, vigorous), poke, pinch, hug, tickle, rest hand atop Results fed into design of automated version
- Status: in development. Briefly describe image. Rapid testing of software, hardware, interaction techniques. Obviate need for human control. Rudimentary initial implementation. Improve into robust platform.
- Simply iterate through points on slide
- Briefly describe diagram. Example using “gentle stroke” interaction and “pleasured” response.
- Physical sensing (actuating) hardware. Programmatic aspects to read (set) sensors (actuator) data. Little/no data interpretation. Example: FSR whose value changes based on pressure (setting the position of a motor).
- Manage variety of sensor data. Build cohesive view. Higher-order model of input data. Example: array of FSRs, when monitored, can determine speed, direction, intensity of stoke.
- Overview of User Studies
- Method: participants presented with WOZ prototype; Asked to interact with it; Measured their reaction to it Goal: preliminary justification of examining animal-like behaviors in haptic communication
- Focus: ensure platform is performing as expected. Low-level: correctly contact or motion of a stroke. High-level: correctly identify and render emotional response. Method: series of studies to test various functions of platform. Ex: correctness of input sensors, output actuators. Ex: rendered responses clear to users. Goal: validate platform implementation and execution. Models of (platform/user) emotional behavior will be determined.
- Focus: implications of affective touch on connectedness. Emphasis on HAI. Interested less on way interactions occur, more on their effects. Method: participants interact with device over extended periods. Goal: deeper understanding touch plays in connectedness. Quantifiable measures for connectedness, patterns for communication.
- Overview of Conclusion