Determining Movement Measures for Trust Assessment in Human-Robot Collaboration Using IMU-Based Motion Tracking

Kasper Hald; Matthias Rehm

doi:10.1109/RO-MAN57019.2023.10309497

Determining Movement Measures for Trust Assessment in Human-Robot Collaboration Using IMU-Based Motion Tracking

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

4 Citations (Scopus)

Abstract

Close-proximity human-robot collaboration (HRC) requires an appropriate level of trust from the operator to the robot to maintain safety and efficiency. Maintaining an appropriate trust level during robot-aided production requires non-obstructive real-time human-robot trust assessment. To this end we performed an experiment with 20 participants performing two types of HRC tasks in close proximity to a Kuka KR 300 R2500 ultra robot. The two tasks involved collaborative transport of textiles and collaborative draping, respectively. During the experiment we performed full body motion tracking and administered human-robot trust questionnaires in order investigate the correlation between trust and operator movement patterns. From the initial per-session analyses we see the effects of task types on movement patterns, but the correlations with trust are weak overall. Further analysis at higher temporal resolution and with correction for participants' base movement patterns are required.

Original language	English
Title of host publication	2023 32nd IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2023
Number of pages	6
Publisher	IEEE (Institute of Electrical and Electronics Engineers)
Publication date	2023
Pages	1267-1272
ISBN (Print)	979-8-3503-3671-9
ISBN (Electronic)	979-8-3503-3670-2
DOIs	https://doi.org/10.1109/RO-MAN57019.2023.10309497
Publication status	Published - 2023
Event	32nd IEEE International Conference on Robot and Human Interactive Communication - Busan, Korea, Republic of Duration: 28 Aug 2023 → 31 Aug 2023 https://ro-man2023.org/main

Conference

Conference	32nd IEEE International Conference on Robot and Human Interactive Communication
Country/Territory	Korea, Republic of
City	Busan
Period	28/08/2023 → 31/08/2023
Internet address	https://ro-man2023.org/main

Series	IEEE RO-MAN proceedings
ISSN	1944-9445

Keywords

human robot collaboration
Human Robot Interaction
human robot trust
Movement Analysis

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/RO-MAN57019.2023.10309497

Accepted Author ManuscriptAccepted author manuscript, 577 KB

AUB Link

Search for the material in Aalborg University Library's search engine

Cite this

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title = "Determining Movement Measures for Trust Assessment in Human-Robot Collaboration Using IMU-Based Motion Tracking",

abstract = "Close-proximity human-robot collaboration (HRC) requires an appropriate level of trust from the operator to the robot to maintain safety and efficiency. Maintaining an appropriate trust level during robot-aided production requires non-obstructive real-time human-robot trust assessment. To this end we performed an experiment with 20 participants performing two types of HRC tasks in close proximity to a Kuka KR 300 R2500 ultra robot. The two tasks involved collaborative transport of textiles and collaborative draping, respectively. During the experiment we performed full body motion tracking and administered human-robot trust questionnaires in order investigate the correlation between trust and operator movement patterns. From the initial per-session analyses we see the effects of task types on movement patterns, but the correlations with trust are weak overall. Further analysis at higher temporal resolution and with correction for participants' base movement patterns are required.",

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Hald, K & Rehm, M 2023, Determining Movement Measures for Trust Assessment in Human-Robot Collaboration Using IMU-Based Motion Tracking. in 2023 32nd IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2023. IEEE (Institute of Electrical and Electronics Engineers), IEEE RO-MAN proceedings, pp. 1267-1272, 32nd IEEE International Conference on Robot and Human Interactive Communication, Busan, Korea, Republic of, 28/08/2023. https://doi.org/10.1109/RO-MAN57019.2023.10309497

Determining Movement Measures for Trust Assessment in Human-Robot Collaboration Using IMU-Based Motion Tracking. / Hald, Kasper ; Rehm, Matthias.
2023 32nd IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2023. IEEE (Institute of Electrical and Electronics Engineers), 2023. p. 1267-1272 (IEEE RO-MAN proceedings).

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

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AB - Close-proximity human-robot collaboration (HRC) requires an appropriate level of trust from the operator to the robot to maintain safety and efficiency. Maintaining an appropriate trust level during robot-aided production requires non-obstructive real-time human-robot trust assessment. To this end we performed an experiment with 20 participants performing two types of HRC tasks in close proximity to a Kuka KR 300 R2500 ultra robot. The two tasks involved collaborative transport of textiles and collaborative draping, respectively. During the experiment we performed full body motion tracking and administered human-robot trust questionnaires in order investigate the correlation between trust and operator movement patterns. From the initial per-session analyses we see the effects of task types on movement patterns, but the correlations with trust are weak overall. Further analysis at higher temporal resolution and with correction for participants' base movement patterns are required.

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Hald K , Rehm M. Determining Movement Measures for Trust Assessment in Human-Robot Collaboration Using IMU-Based Motion Tracking. In 2023 32nd IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2023. IEEE (Institute of Electrical and Electronics Engineers). 2023. p. 1267-1272. (IEEE RO-MAN proceedings). doi: 10.1109/RO-MAN57019.2023.10309497

Determining Movement Measures for Trust Assessment in Human-Robot Collaboration Using IMU-Based Motion Tracking

Abstract

Conference

Keywords

UN SDGs

Access to Document

AUB Link

Other files and links

Fingerprint

Drapebot: Collaborative Draping of Carbon Fiber Parts

Benchmark movement data set for trust assessment in human robot collaboration

Cite this

Determining Movement Measures for Trust Assessment in Human-Robot Collaboration Using IMU-Based Motion Tracking

Abstract

Conference

Keywords

UN SDGs

Access to Document

AUB Link

Other files and links

Fingerprint

Projects

Drapebot: Collaborative Draping of Carbon Fiber Parts

Datasets

Benchmark movement data set for trust assessment in human robot collaboration

Cite this