Abstract
AbstractHuman-robot interaction research could benefit from knowing how various parameters of robotic eye movement control affect specific cognitive mechanisms of the user, such as attention or perception. In the present study, we systematically teased apart control parameters of Trajectory Time of robot eye movements (rTT) between two joint positions and Fixation Duration (rFD) on each of these positions of the iCub robot. We showed recordings of these behaviors to participants and asked them to rate each video on how human-like the robot’s behavior appeared. Additionally, we recorded participants’ eye movements to examine whether the different control parameters evoked different effects on cognition and attention. We found that slow but variable robot eye movements yielded relatively higher human-likeness ratings. On the other hand, the eye-tracking data suggest that the human range of rTT is most engaging and evoked spontaneous involvement in joint attention. The pattern observed in subjective ratings was paralleled only by one measure in the implicit objective metrics, namely the frequency of spontaneous attentional following. These findings provide significant clues for controller design to improve the interaction between humans and artificial agents.
Highlights
Human-robot interaction research could benefit from knowing how various parameters of robotic eye movement control affect specific cognitive mechanisms of the user, such as attention or perception
For the human-likeness ratings, we found that the slowrange variable (SRV) condition was evaluated as most human-like
Engaged participants’ attention more than the slow-range variability (SRV) – a differential effect on fixation durations, and evoked higher degree of spontaneous joint attention than the other two conditions – an effect on the range of lateral fixations and speed of attentional following.In more detail, our results showed that participants fixated on the eye region longer for the human-range variability (HRV) condition, as compared to SRV, as evidenced by the significant main effect of robot eye movements (rTT) for the eye region (F=4.84, p=0.01) in the average fixation duration, and significant difference between HRV and SRV, (z=3.03, p=0.01), planned comparison
Summary
Abstract: Human-robot interaction research could benefit from knowing how various parameters of robotic eye movement control affect specific cognitive mechanisms of the user, such as attention or perception. We recorded participants’ eye movements to examine whether the different control parameters evoked different effects on cognition and attention. The eye-tracking data suggest that the human range of rTT is most engaging and evoked spontaneous involvement in joint attention. The pattern observed in subjective ratings was paralleled only by one measure in the implicit objective metrics, namely the frequency of spontaneous attentional following. These findings provide significant clues for controller design to improve the interaction between humans and artificial agents.
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