Journal
IEEE ACCESS
Volume 8, Issue -, Pages 207635-207642Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2020.3037724
Keywords
Service robots; Task analysis; Correlation; Robot kinematics; Cameras; Education; Robot vision systems; Activity recognition; cooperative systems; gesture recognition; human-robot interaction; intelligent robots; interactive systems; robot control; robot learning; telerobotics
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Funding
- Federal Ministry of Education and Research of Germany (BMBF) RoboAssist [03ZZ0448L]
- Robo-Lab within the Zwanzig20 Alliance 3Dsensation [03ZZ04X02B]
- HuBa [03ZZ0470]
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The goal of the study was to research different communication modalities needed for intuitive Human-Robot Interaction. This study utilizes a Wizard of Oz prototyping method to enable a restriction-free, intuitive interaction with an industrial robot. The data from 36 test subjects suggests a high preference for speech input, automatic path planning and pointing gestures. The catalogue developed during this experiment contains intrinsic gestures suggesting that the two most popular gestures per action can be sufficient to cover the majority of users. The system scored an average of 74% in different user interface experience questionnaires, while containing forced flaws. These findings allow a future development of an intuitive Human-Robot interaction system with high user acceptance.
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