Human-Robot Trust Assessment Using Motion Tracking & Galvanic Skin Response

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Abstract

In this study we set out to design a computer vision-based system to assess human-robot trust in real time during close-proximity human-robot collaboration. This paper presents the setup and hardware for an augmented reality-enabled human-robot collaboration cell as well as a method of measuring operator proximity using an infrared camera. We tested this setup as a tool for assessing trust through physical apprehension signals in a collaborative drawing task, where participants hold a piece of paper on a table while the robot draws between their hands. Midway through the test we attempt to induce a decrease in trust with an unexpected change in robot speed and evaluate subject motions along with self-reported trust and emotional arousal through galvanic skin response. After performing the experiment with forty participants, we found that reported trust was significantly affected when robot movement speed was increased. The galvanic skin response measurement were not significantly different between the test conditions. The motion tracking method used in this study did not suggest that subjects' motions were significantly affected by the decrease in trust.
Original languageEnglish
Title of host publicationProceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Publication date2020
Article number9341267
ISBN (Print)978-1-7281-6213-3
ISBN (Electronic)978-1-7281-6212-6
DOIs
Publication statusPublished - 2020
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems - Caesars Forum, Las Vegas, United States
Duration: 24 Oct 202030 Oct 2020
http://www.iros2020.org/index.html

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems
LocationCaesars Forum
CountryUnited States
CityLas Vegas
Period24/10/202030/10/2020
Internet address
SeriesI E E E International Conference on Intelligent Robots and Systems. Proceedings
ISSN2153-0858

Keywords

  • Human Robot Interaction
  • human robot trust
  • Human Robot Collaboration

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