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  • 1.
    Bogdan, Christian
    et al.
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Green, Anders
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Hüttenrauch, Helge
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Räsänen, Minna
    KTH, School of Computer Science and Communication (CSC), Media Technology and Graphic Arts, Media (closed 20111231).
    Severinsson Eklundh, Kerstin
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Cooperative Design of a Robotic Shopping Trolley2009In: The Good, the Bad and the Challenging: the user and the future of information and communication technologies, 2009Conference paper (Refereed)
  • 2.
    Bogdan, Cristian
    et al.
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Ertl, D.
    Goller, M.
    Green, Anders
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Severinson Eklundh, Kerstin
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Towards HRI on the Move with Mixed Initiative2010In: Proceeding of New Frontiers in Human-Robot Interaction Symposium of the Convention Artificial Intelligence and Simulation of Behaviour (AISB) 2010, 2010, p. 22-26Conference paper (Refereed)
  • 3.
    Green, Anders
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Characterising dimensions of use for designing adaptive dialogues for human-robot communication2007In: 2007 RO-MAN: 16TH IEEE  International Symposium On Robot And Human Interactive Communication, Vols 1-3, 2007, p. 1071-1076Conference paper (Refereed)
    Abstract [en]

    In this paper we provide a possible characterisation of user behaviour based on an analysis of a corpus of human-robot communication, collected by using the Wizard-of-Oz technique to elicit communicative behaviour. We distinguish between three general types of user behaviour: uniform user behaviour, idiosyncratic user behaviour and distinguishing user behaviour. We also present an analysis of user behaviour that can be characterized in terms of overall task organisation (i.e., interaction episodes) and behaviour that is intimately connected to communicative behaviour. We also discuss to what extent manipulation of objects to prepare the environment can be used to group users along the dimensions: task- vs. interaction-orientation and control vs. monitoring. Using this typology we discuss categorisation into four dimensions of use: Directors, Manipulators, Pointers and Players. To support these use dimensions we propose a set of adaptation foci (Focus on Feedback or Action, and on Proactive or Reactive behaviour).

  • 4.
    Green, Anders
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Designing and Evaluating Human-Robot Communication: Informing Design through Analysis of User Interaction2009Doctoral thesis, monograph (Other academic)
    Abstract [en]

    This thesis explores the design and evaluation of human-robot communication for service robots that use natural language to interact with people.  The research is centred around three themes: design of human-robot communication; evaluation of miscommunication in human-robot communication; and the analysis of spatial influence as empiric phenomenon and design element.  The method has been to put users in situations of future use through means of Hi-fi simulation. Several scenarios were enacted using the Wizard-of-Oz technique: a robot intended for fetch- and carry services in an office environment; and a robot acting in what can be characterised as a home tour, where the user teaches objects and locations to the robot. Using these scenarios a corpus of human-robot communication was developed and analysed.  The analysis of the communicative behaviours led to the following observations: the users communicate with the robot in order to solve a main task goal. In order to fulfil this goal they overtake service actions that the robot is incapable of. Once users have understood that the robot is capable of performing actions, they explore its capabilities.  During the interactions the users continuously monitor the behaviour of the robot, attempting to elicit feedback or to draw its perceptual attention to the users’ communicative behaviour. Information related to the communicative status of the robot seems to have a fundamental impact on the quality of interaction. Large portions of the miscommunication that occurs in the analysed scenarios can be attributed to ill-timed, lacking or irrelevant feedback from the robot.  The analysis of the corpus data also showed that the users’ spatial behaviour seemed to be influenced by the robot’s communicative behaviour, embodiment and positioning. This means that we in robot design can consider the use strategies for spatial prompting to influence the users’ spatial behaviour.  The understanding of the importance of continuously providing information of the communicative status of the robot to it’s users leaves us with an intriguing design challenge for the future: When designing communication for a service robot we need to design communication for the robot work tasks; and simultaneously, provide information based on the systems communicative status to continuously make users aware of the robots communicative capability.

  • 5.
    Green, Anders
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    The need for a model of contact and perception to support natural interactivity in human-robot communication2007In: 2007 RO-MAN: 16TH IEEE International Symposium On Robot And Human Interactive Communication , Vols 1-3, 2007, p. 551-556Conference paper (Refereed)
    Abstract [en]

    In studies of human-robot communication we have observed that the robot's inability to give appropriate communicative feedback for contact and perception causes miscommunication [2]. The purpose of this paper is to motivate the need for and give air initial characterisation of a model for communicative contact and perception feedback. One component of a such a model could be a kind of low-level user model aiming to decide the perceptual status of the user. We have analysed an example of inter-action that shows signs of miscommunication that is related to feedback problems concerning contact and perception. Using the analysis to pinpoint the source. of these problem,,; we provide tin initial account for the type of information sources that a low-level user that handles communicative contact and perception feedback should comprise. We also provide two design examples that in our view motivates this explorative effort.

  • 6.
    Green, Anders
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Towards a Minimal Interaction Scheme: Initial Observations on Gesture Repertoire and Communication Strategies2009In: RO-MAN 2009: THE 18TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1 AND 2, NEW YORK: IEEE , 2009, p. 903-908Conference paper (Refereed)
    Abstract [en]

    This paper investigates a prototype of an interaction design for a flexible natural language user interface with a minimal set of gestures and natural language commands. The prototype is evaluated using a Hi-Fi simulation approach that allows the enactment of an interfaces that accommodates gesture and speech input for directive commands. In the scenario users were guiding a robot equipped with a camera and microphone through a simple maze. The data from six users were collected and subsequently analysed with respect to the users' communicative behavior. In the analysis of the data special consideration was given to the gesture repertoire. It was found that users, when presented with static images of gestures, added their own dynamic patterns. Furthermore the users appeared to give precedence to the deictic component of gestures that meant left/right. Users were also opportunistic meaning that when they could they used predefined goal points and let the robot use its autonomous navigation to find its way.

  • 7.
    Green, Anders
    et al.
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Eklundh, Kerstin Severinson
    KTH, School of Computer Science and Communication (CSC), Numerical Analysis and Computer Science, NADA.
    Wrede, Britta
    Li, Shuyin
    Integrating miscommunication analysis in natural language interface design for a service robot2006In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12, NEW YORK: IEEE , 2006, p. 4678-4683Conference paper (Refereed)
    Abstract [en]

    Natural language user interfaces for robots with cognitive capabilities should be designed to reduce the occurrence of miscommunication in order to be perceived as providing a smooth and intuitive interaction to its users. This paper describes how miscommunication analysis is integrated in the design process. Observations from 12 user sessions revealed that users misunderstand the robot's functionality; and that feedback sometimes is ill-timed with respect to the situation. We provide a set of design implications to prevent errors from occurring, to influence or adapt to users' behavior.

  • 8.
    Green, Anders
    et al.
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Hüttenrauch, Helge
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Bogdan, Cristian
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Severinson Eklundh, Kerstin
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    With a new helper comes new tasks mixed-initiative interaction for robot-assisted shopping2009In: IHRCMICA-2009 Improving Human-Robot Communication with Mixed-Initiative and Context-Awareness: Proceedings of the Workshop on Improving Human-Robot Communication with Mixed-Initiative and Context-Awareness co-located with Ro-Man 2009, 2009Conference paper (Refereed)
    Abstract [en]

    In the CommRob project1 we are investigating Robot Assisted Shopping. We are considering the effects on usability when allowing for mixed-initiative dialogue. It is noted that when adding a robotic assistant to a scenario that was previously involving only one agent, two new tasks are created: collaborative interaction, and learning an interface. Evaluation of mixed-initiative dialogue becomes complicated because it is not straightforward to separate the overall task performance from the attributes brought by mixed-initiative interaction.

  • 9.
    Green, Anders
    et al.
    KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.
    Hüttenrauch, Helge
    KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.
    Eklundh, Kerstin Severinsson
    KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.
    Applying the wizard-of-oz framework to cooperative service discovery and configuration2004In: RO-MAN 2004: 13TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS, NEW YORK: IEEE , 2004, p. 575-580Conference paper (Refereed)
    Abstract [en]

    This paper describes how the Wizard-of-Oz framework can be applied to a service robotics scenario. A scenario the Home Tour Scenario - involving a collaborative service discovery and configuration multimodal dialogue for the robot is described. The role of the wizard operators producing dialogue and robot movements is discussed as well as the specific simulation tools used: the Dialogue Production Tool and the Joystick Navigation Tool. Some attention will be paid to the pilot studies performed as a preparation for the unified Home Tour Scenario.

  • 10.
    Green, Anders
    et al.
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Hüttenrauch, Helge
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Topp, Elin Anna
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Severinsson Eklundh, Kerstin
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Developing a Contextualized Multimodal Corpus for Human-Robot Interaction2006In: Proceedings of the fifth international conference on language resources and evaluation, 2006, p. 401-406Conference paper (Refereed)
    Abstract [en]

    This paper describes the development process of a contextualized corpus for research on Human-Robot Communication. The data have been collected in two Wizard-of-Oz user studies performedwith 22 and 5 users respectively in a scenario that is called the HomeTour. In this scenario the users show the environment (a single room, or a whole floor) to the robot using a combination of speech and gestures. The corpus has been transcribed and annotated with respect to gestures and conversational acts, thus forming a core annotation. We have also annotated or linked other types of data, e.g., laser range finder readings, positioning analysis, questionnaire data and task descriptions that form the annotated context of the scenario. By providing a rich set of different annotated data, thecorpus is thus an important resource both for research on natural language speech interfaces for robots and for research on human-robot communication in general.

  • 11.
    Groth, Kristina
    et al.
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Lantz, Ann
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Sallnäs, Eva-Lotta
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Frykholm, Oscar
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Green, Anders
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Team Meetings within Clinical Domains: Exploring the Use of Routines and Technical Support for Communication2009In: HUMAN-COMPUTER INTERACTION - INTERACT 2009, PT II, PROCEEDINGS / [ed] Gross T; Gulliksen J; Kotze P; Oestreicher L; Palanque P; Prates RO; Winckler M, 2009, Vol. 5727, p. 975-976Conference paper (Refereed)
    Abstract [en]

    Today, it is common that a team of clinicians, from different disciplines, instead of one single doctor, care for a patient. This is especially true when it concerns more complicated diseases in highly specialised health care. Going from one doctor to a team of doctors raises new dimensions/problems/issues when deciding about the diagnosis and how to treat the patient. Instead of one person deciding, based on the information given from others, a group of people need to agree on a decision. How do the participants during such decision meetings argue for their experience and skill? What kind of technologies are available and how do they support the communication in the meeting? Måseide (2006), for example, focuses on how different forms of evidence influence and regulate the judgements and decisions of medical practitioners during such meetings. Groth et al. (2008), for example, focuses on the technology used during such meetings, with a focus on audio, video, and images.

  • 12.
    Huettenrauch, Helge
    et al.
    KTH, School of Computer Science and Communication (CSC), Numerical Analysis and Computer Science, NADA.
    Severinson Eklundh, Kerstin
    KTH, School of Computer Science and Communication (CSC), Numerical Analysis and Computer Science, NADA.
    Green, Anders
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Topp, Elin A
    KTH, School of Computer Science and Communication (CSC), Numerical Analysis and Computer Science, NADA.
    Investigating spatial relationships in human-robot interaction2006In: IEEE/RSJ International Conference on Intelligent Robots and Systems, NEW YORK, NY: IEEE , 2006, p. 5052-5059Conference paper (Refereed)
    Abstract [en]

    Co-presence and embodied interaction are two fundamental characteristics of the command and control situation for service robots. This paper presents a study of spatial distances and orientation of a robot with respect to a human user in an experimental setting. Relevant concepts of spatiality from social interaction studies are introduced and related to Human-Robot Interaction (HRI). A Wizard-of-Oz study quantifies the observed spatial distances and spatial formations encountered. However, it is claimed that a simplistic parameterization and measurement of spatial interaction misses the dynamic character and might be counterproductive in the design of socially appropriate robots.

  • 13.
    Hüttenrauch, Helge
    et al.
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Bogdan, Cristian
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Green, Anders
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Severinson Eklundh, Kerstin
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Ertl, Dominik
    Falb, Jürgen
    Kaindl, Hermann
    Göller, Michael
    Evaluation of Robot Body Movements Supporting Communication2010In: Proceedings of the 2nd International Symposium on New Frontiers in Human-Robot Interaction - A Symposium at the AISB 2010 Convention, 2010, p. 42-49Conference paper (Refereed)
    Abstract [en]

    In designing socially interactive robotswe have focused on robot movement and its role in multi-modal human-robot communication. In this paper we describe a user-centred design and evaluation process, investigating the idea of using speed and orientation adjustments as design elements in human-robot interaction. The scenario studied includes a robotic shopping trolley that offers products to the user while both are moving in a supermarket-like environment. Our results show that if the robot slows down while making such offers, users are more prone to react upon them. However, in an early pre-study, performed only with a robot mock-up, we observed that users tended not to notice the robot's slow-down movements while offers are made, even if these movements were shown several times to them during a video-based debriefing. This phenomenon, that users react implicitly on the robot'smovements without being consciously aware of them, was confirmed during an experimental study with a fully integrated robot prototype.We discuss our results by reflecting on human-robot interaction design methods, and we propose implications from the lessons learnt in the study of the design of robot behaviours.

  • 14.
    Hüttenrauch, Helge
    et al.
    KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.
    Green, Anders
    KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.
    Norman, Mikael
    Oestreicher, Lars
    KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.
    Severinsson Eklundh, Kerstin
    KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.
    Involving users in the design of a mobile office robot2004In: IEEE transactions on systems, man and cybernetics. Part C, Applications and reviews, ISSN 1094-6977, E-ISSN 1558-2442, Vol. 34, no 2, p. 113-124Article in journal (Refereed)
    Abstract [en]

    This paper describes the experiences from the iterative design of a fetch-and-carry-robot, to be used by motion-impaired people in an office environment. A user-centered approach was chosen, involving several steps of information elicitation to inform the design. We describe the main elements of the design process, the communication and interaction components of the final prototype system, and an evaluation of the system in the form of a longitudinal study. Results from this study confirmed that continuous testing with users is extremely important in the design process for service robots. The trials have also revealed that interaction design for robots should not focus only on the individual user, but that other members in the environment can be seen "secondary users" or "bystanders" who tend to relate to the robot actively in various ways. We conclude that these social and collaborative issues should be studied in future research.

  • 15. Kaindl, H.
    et al.
    Ertl, D.
    Falb, J.
    Bogdan, Cristian
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Severinson Eklundh, Kerstin
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Green, Anders
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Hüttenrauch, Helge
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Göller, M.
    Multimodal communication involving 2D-space movement2010In: 4th International Conference on Cognitive Systems, CogSys 2010, 2010Conference paper (Refereed)
  • 16. Lohse, M.
    et al.
    Hanheide, M.
    Wrede, B.
    Walters, M.L.
    Koay, K.L.
    Syrdal, D.S.
    Green, Anders
    KTH, School of Computer Science and Communication (CSC), Numerical Analysis and Computer Science, NADA.
    Hüttenrauch, Helge
    KTH, School of Computer Science and Communication (CSC), Numerical Analysis and Computer Science, NADA.
    Dautenhahn, K.
    Sagerer, G.
    Severinsson Eklundh, Kerstin
    KTH, School of Computer Science and Communication (CSC), Numerical Analysis and Computer Science, NADA.
    Evaluating extrovert and introvert behaviour of a domestic robot – a video study2008In: Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN, 2008, p. 488-493Conference paper (Refereed)
    Abstract [en]

    Human-Robot Interaction (HRI) research is here presented into social robots that have to be able to interact with inexperienced users. In the design of these robots many research findings of human-human interaction and human-computer interaction are adopted but the direct applicability of these theories is limited because a robot is different from both humans and computers. Therefore, new methods have to be developed in HRI in order to build robots that are suitable for inexperienced users. In this paper we present a video study we conducted employing our robot BIRON (BIelefeld RObot companioN) which is designed for use in domestic environments. Subjects watched the system during the interaction with a human and rated two different robot behaviours (extrovert and introvert). The behaviours differed regarding verbal output and person following of the robot. Aiming to improve human-robot interaction, participants' ratings of the behaviours were evaluated and compared.

  • 17.
    Räsänen, Minna
    et al.
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Severinsson Eklundh, Kerstin
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Bogdan, Cristian
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Green, Anders
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Hüttenrauch, Helge
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI (closed 20111231).
    Report on User and Stakeholder Requirements: CommRob Project : Deliverable D7.12008Report (Other academic)
  • 18. Walters, Michael L.
    et al.
    Lohse, Manja
    Hanheide, Marc
    Wrede, Britta
    Syrdal, Dag Sverre
    Koay, Kheng Lee
    Green, Anders
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Hüttenrauch, Helge
    Dautenhahn, Kerstin
    Sagerer, Gerhard
    Severinson-Eklundh, Kerstin
    KTH, School of Computer Science and Communication (CSC), Human - Computer Interaction, MDI.
    Evaluating the Robot Personality and Verbal Behavior of Domestic Robots Using Video-Based Studies2011In: Advanced Robotics, ISSN 0169-1864, E-ISSN 1568-5535, Vol. 25, no 18, p. 2233-2254Article in journal (Refereed)
    Abstract [en]

    Robots are increasingly being used in domestic environments and should be able to interact with inexperienced users. Human-human interaction and human-computer interaction research findings are relevant, but often limited because robots are different from both humans and computers. Therefore, new human-robot interaction (HRI) research methods can inform the design of robots suitable for inexperienced users. A video-based HRI (VHRI) methodology was here used to carry out a multi-national HRI user study for the prototype domestic robot BIRON (BIelefeld RObot companioN). Previously, the VHRI methodology was used in constrained HRI situations, while in this study HRIs involved a series of events as part of a 'home-tour' scenario. Thus, the present work is the first study of this methodology in extended HRI contexts with a multi-national approach. Participants watched videos of the robot interacting with a human actor and rated two robot behaviors (Extrovert and Introvert). Participants' perceptions and ratings of the robot's behaviors differed with regard to both verbal interactions and person following by the robot. The study also confirms that the VHRI methodology provides a valuable means to obtain early user feedback, even before fully working prototypes are available. This can usefully guide the future design work on robots, and associated verbal and non-verbal behaviors.

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