Humanoid 2021 Abstracts

Area 1 - Interaction with Humanoid Robots - Humnaoid
Full Papers Short Papers

Area 1 - Interaction with Humanoid Robots - Humnaoid

Full Papers
Paper Nr: 3
Title:

A Cooking Game for Cognitive Training of Older Adults Interacting with a Humanoid Robot
Authors:

Eleonora Zedda, Marco Manca and Fabio Paternò
Abstract: In this paper, we present the design and the implementation of a cooking game for older adults interacting through a humanoid robot. We discuss the motivations and the requirements that have driven such design and indicate how it has been implemented. The main goal is to stimulate the cognitive resources of older adults in order to limit their decline. For this purpose, we have exploited the multimodal possibilities of the humanoid robot and have identified two robot personalities, which are suitable to improve users' engagement, and thus their potential participation in cognitive training programmes.
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Paper Nr: 4
Title:

User Models for Post-stroke Therapies and Consequences for the Interaction with a Humanoid Robot
Authors:

Alexandru Bundea and Peter Forbrig
Abstract: In the future, social robots may become a viable help to provide more patient therapy sessions for post-stroke patients. Certain therapies require still another person to work with the patient. If a non-medically skilled helper person could be used, this could dampen the lack of available therapists worldwide. But for this, strategies how robots may best advise a patient and the helper must be found. This paper aims to find a common basis, where to formulate rules how a social robot could react and act in a therapy session. We present the focused therapy and propose our model and give an exemplary idea how to use this framework.
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Paper Nr: 5
Title:

Towards We-intentional Human-Robot Interaction using Theory of Mind and Hierarchical Task Network
Authors:

Maitreyee and Michele Persiani
Abstract: Joint activity between human and robot agent requires them to not only form joint intention and share a mutual understanding about it but also to determine their type of commitment. Such commitment types allows robot agent to select appropriate strategies based on what can be expected from others involved in performing the given joint activity. This work proposes an architecture embedding commitments as we-intentional modes in a belief-desire-intention (BDI) based Theory of Mind (ToM) model. Dialogue mediation gathers observations facilitating ToM to infer the joint activity and hierarchical task network (HTN) plans the execution. The work is ongoing and currently the proposed architecture is being implemented to be evaluated during human-robot interaction studies.
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Paper Nr: 6
Title:

Decision-making with a Humanoid Robot Partner: Individual Differences Impacting Trust
Authors:

Joel Elson, Luis Merino and Douglas Derrick
Abstract: Trust in human-machine teams, where humans partner with intelligent systems, is critical to effective collaboration and work success. Research in prior studies of trust in human-robot partnerships, has largely focused on three groups of trust antecedents: factors relating to the environment, the machine, and human individual differences. There is a dearth of research in this later area, despite wide recognition that individual differences play an important role in human behaviour and cognition. This paper draws on the psychological theory of trait activation and examines the role of human personality in trust in the relationships between humans and intelligent humanoid robots partnering to make critical decisions. We conducted an empirical study that looked to explore the role of the Big-Five personality traits on trust. Results suggest that the openness personality trait is a significant predictor of trust in a humanoid-robot partner, above and beyond the individual difference propensity trust. Individuals scoring high on the openness personality trait may have a greater trust in a humanoid robot partner than those with low scores in the openness personality dimension. Future studies should look to better understand the trait activating factors related to Openness in human machine trusting relationships.
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Paper Nr: 7
Title:

Teleoperating Humanoids Robots using Standard VR Headsets: A Systematic Review
Authors:

Lucio D. Spano
Abstract: The recent development of both Virtual Reality (VR) and the availability of multipurpose Humanoid Robots and their development platforms fostered the combination of such technologies for supporting teleoperation tasks. Many technical solutions are documented in the literature and studies discussing the benefits and limitations of different solutions. In this paper, we survey a total of 23 papers written between 2017 and 2021 that employ a consumer VR headset for teleoperating a humanoid robot, applying the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines. We identify the characteristics of the hardware setup, the software communication architecture, the mapping technique between the operator’s input and the robot movements, the provided feedback (e.g., visual, haptic, etc.), and we report on the identified strengths and weaknesses on the usability level (if any). Finally, we discuss possible further research directions in this field.
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Short Papers
Paper Nr: 1
Title:

Insights from a Long-Term in-the-Wild Study with Post-Stroke Patients using a Socially Assistive Robot
Authors:

Ronit Feingold Polak and Shelly Levy-Tzedek
Abstract: The growing care gap in rehabilitation calls for ways to help patients perform their exercises in a safe environment, while receiving feedback on their progress. Socially assistive robots have been suggested as potential agents in helping patients in their rehabilitation regimen. Here, we present a set of guidelines that we developed, based on our experience with running a 2-year in-clinic study with 20 stroke patients who used a platform we developed for post-stroke training over a 5-7-week period; 10 of those trained with a socially assistive robot, and 10 with a computer-based system. The guidelines we provide here are aimed to assist researchers who wish to implement a long-term technological intervention program with patients in the wild.
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