Human behavioural responses to robot head gaze during robot-to-human handovers

Minhua Zheng; A. Jung Moon; Brian Gleeson; Daniel M. Troniak; Matthew K.X.J. Pan; Benjamin A. Blumer; Max Q.H. Meng; Elizabeth A. Croft

doi:10.1109/ROBIO.2014.7090357

Human behavioural responses to robot head gaze during robot-to-human handovers

Minhua Zheng, A. Jung Moon, Brian Gleeson, Daniel M. Troniak, Matthew K.X.J. Pan, Benjamin A. Blumer, Max Q.H. Meng, Elizabeth A. Croft

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

8 Citations (Scopus)

Abstract

A robot that can fluently hand over objects to people can be useful in many applications. In an effort to develop a fluent robot-to-human handover system, this work investigates people's behavioural responses to a robot that hands over objects to them while using different types of gaze cues. In our previous work, we found empirical evidence that the use of a robot's head gaze can affect a person's timing of reaching towards the offered object. In this paper, we investigate this effect further by exploring the manner in which human's reaching and gaze behaviours are affected by a robot's head gaze. We conducted a video-based investigation of 97 naïve participants' behavioural responses to robot-to-human handovers. Through a frame-by-frame analysis, we recorded a detailed timeline of the robot's and human's gaze and reaching behaviours. Results confirm the finding from our previous study that the robot's head gaze can significantly impact the timing of human receiver's reaching behaviour during handovers. In addition, our results demonstrate that the robot's head gaze affects human's gaze behaviour during handovers, and this effect explains some unexpected findings in our previous work.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	362-367
Number of pages	6
ISBN (Electronic)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090357
Publication status	Published - 20 Apr 2014
Externally published	Yes
Event	IEEE International Conference on Robotics and Biomimetics 2014 - Bali, Indonesia Duration: 5 Dec 2014 → 10 Dec 2014 https://ieeexplore.ieee.org/xpl/conhome/7062021/proceeding (Proceedings)

Conference

Conference	IEEE International Conference on Robotics and Biomimetics 2014
Abbreviated title	ROBIO 2014
Country/Territory	Indonesia
City	Bali
Period	5/12/14 → 10/12/14
Internet address	https://ieeexplore.ieee.org/xpl/conhome/7062021/proceeding (Proceedings)

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10.1109/ROBIO.2014.7090357

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Zheng, M., Moon, A. J., Gleeson, B., Troniak, D. M., Pan, M. K. X. J., Blumer, B. A., Meng, M. Q. H., & Croft, E. A. (2014). Human behavioural responses to robot head gaze during robot-to-human handovers. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 362-367). Article 7090357 IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ROBIO.2014.7090357

@inproceedings{2d0e80960f3341fe8f028d809b8a6ef2,

title = "Human behavioural responses to robot head gaze during robot-to-human handovers",

abstract = "A robot that can fluently hand over objects to people can be useful in many applications. In an effort to develop a fluent robot-to-human handover system, this work investigates people's behavioural responses to a robot that hands over objects to them while using different types of gaze cues. In our previous work, we found empirical evidence that the use of a robot's head gaze can affect a person's timing of reaching towards the offered object. In this paper, we investigate this effect further by exploring the manner in which human's reaching and gaze behaviours are affected by a robot's head gaze. We conducted a video-based investigation of 97 na{\"i}ve participants' behavioural responses to robot-to-human handovers. Through a frame-by-frame analysis, we recorded a detailed timeline of the robot's and human's gaze and reaching behaviours. Results confirm the finding from our previous study that the robot's head gaze can significantly impact the timing of human receiver's reaching behaviour during handovers. In addition, our results demonstrate that the robot's head gaze affects human's gaze behaviour during handovers, and this effect explains some unexpected findings in our previous work.",

author = "Minhua Zheng and Moon, {A. Jung} and Brian Gleeson and Troniak, {Daniel M.} and Pan, {Matthew K.X.J.} and Blumer, {Benjamin A.} and Meng, {Max Q.H.} and Croft, {Elizabeth A.}",

year = "2014",

month = apr,

day = "20",

doi = "10.1109/ROBIO.2014.7090357",

language = "English",

pages = "362--367",

booktitle = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

address = "United States of America",

note = "IEEE International Conference on Robotics and Biomimetics 2014, ROBIO 2014 ; Conference date: 05-12-2014 Through 10-12-2014",

url = "https://ieeexplore.ieee.org/xpl/conhome/7062021/proceeding",

}

Zheng, M, Moon, AJ, Gleeson, B, Troniak, DM, Pan, MKXJ, Blumer, BA, Meng, MQH & Croft, EA 2014, Human behavioural responses to robot head gaze during robot-to-human handovers. in 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014., 7090357, IEEE, Institute of Electrical and Electronics Engineers, pp. 362-367, IEEE International Conference on Robotics and Biomimetics 2014, Bali, Indonesia, 5/12/14. https://doi.org/10.1109/ROBIO.2014.7090357

Human behavioural responses to robot head gaze during robot-to-human handovers. / Zheng, Minhua; Moon, A. Jung; Gleeson, Brian et al.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. IEEE, Institute of Electrical and Electronics Engineers, 2014. p. 362-367 7090357.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

TY - GEN

T1 - Human behavioural responses to robot head gaze during robot-to-human handovers

AU - Zheng, Minhua

AU - Moon, A. Jung

AU - Gleeson, Brian

AU - Troniak, Daniel M.

AU - Pan, Matthew K.X.J.

AU - Blumer, Benjamin A.

AU - Meng, Max Q.H.

AU - Croft, Elizabeth A.

PY - 2014/4/20

Y1 - 2014/4/20

N2 - A robot that can fluently hand over objects to people can be useful in many applications. In an effort to develop a fluent robot-to-human handover system, this work investigates people's behavioural responses to a robot that hands over objects to them while using different types of gaze cues. In our previous work, we found empirical evidence that the use of a robot's head gaze can affect a person's timing of reaching towards the offered object. In this paper, we investigate this effect further by exploring the manner in which human's reaching and gaze behaviours are affected by a robot's head gaze. We conducted a video-based investigation of 97 naïve participants' behavioural responses to robot-to-human handovers. Through a frame-by-frame analysis, we recorded a detailed timeline of the robot's and human's gaze and reaching behaviours. Results confirm the finding from our previous study that the robot's head gaze can significantly impact the timing of human receiver's reaching behaviour during handovers. In addition, our results demonstrate that the robot's head gaze affects human's gaze behaviour during handovers, and this effect explains some unexpected findings in our previous work.

AB - A robot that can fluently hand over objects to people can be useful in many applications. In an effort to develop a fluent robot-to-human handover system, this work investigates people's behavioural responses to a robot that hands over objects to them while using different types of gaze cues. In our previous work, we found empirical evidence that the use of a robot's head gaze can affect a person's timing of reaching towards the offered object. In this paper, we investigate this effect further by exploring the manner in which human's reaching and gaze behaviours are affected by a robot's head gaze. We conducted a video-based investigation of 97 naïve participants' behavioural responses to robot-to-human handovers. Through a frame-by-frame analysis, we recorded a detailed timeline of the robot's and human's gaze and reaching behaviours. Results confirm the finding from our previous study that the robot's head gaze can significantly impact the timing of human receiver's reaching behaviour during handovers. In addition, our results demonstrate that the robot's head gaze affects human's gaze behaviour during handovers, and this effect explains some unexpected findings in our previous work.

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M3 - Conference Paper

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BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

PB - IEEE, Institute of Electrical and Electronics Engineers

T2 - IEEE International Conference on Robotics and Biomimetics 2014

Y2 - 5 December 2014 through 10 December 2014

ER -

Human behavioural responses to robot head gaze during robot-to-human handovers

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