Promoting Trust in Industrial Human-Robot Collaboration through Preference-Based Optimization

Giulio Campagna; Marta Lagomarsino; Marta Lorenzini; Dimitrios Chrysostomou; Matthias Rehm; Arash Ajoudani

doi:10.1109/LRA.2024.3455792

Promoting Trust in Industrial Human-Robot Collaboration through Preference-Based Optimization

Giulio Campagna^*, Marta Lagomarsino, Marta Lorenzini, Dimitrios Chrysostomou, Matthias Rehm, Arash Ajoudani

^*Corresponding author for this work

Research output: Contribution to journal › Journal article › Research › peer-review

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Abstract

This letter proposes a novel theoretical framework for promoting trust in human-robot collaboration (HRC). The framework exploits Preference-Based Optimization (PBO) and focuses on three key interaction parameters: robot velocity profile, human-robot separation distance, and vertical proximity to the user's head. By iteratively refining these parameters based on qualitative feedback from human collaborators, the system dynamically adapts robot trajectories. This personalization aims to enhance users' confidence in the robot's actions and foster a more trusting collaborative environment. In our user study with fourteen participants, we simulated a chemical industrial scenario for the HRC task. Results suggest that the framework effectively promotes human operator confidence in the robot assistant, particularly for individuals with limited prior experience in robotics.

Original language	English
Journal	IEEE Robotics and Automation Letters
Volume	9
Issue number	11
Pages (from-to)	9255-9262
Number of pages	8
ISSN	2377-3766
DOIs	https://doi.org/10.1109/LRA.2024.3455792
Publication status	Published - 6 Sept 2024

Bibliographical note

Publisher Copyright:
© 2024 IEEE.

Keywords

Acceptability and Trust
Human Factors and Human-in-the-Loop
Human-Robot Collaboration
human-robot collaboration
Acceptability and trust
human factors and human-in-the-loop

UN SDGs

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

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10.1109/LRA.2024.3455792

Accepted Author ManuscriptAccepted author manuscript, 1.42 MB

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title = "Promoting Trust in Industrial Human-Robot Collaboration through Preference-Based Optimization",

abstract = "This letter proposes a novel theoretical framework for promoting trust in human-robot collaboration (HRC). The framework exploits Preference-Based Optimization (PBO) and focuses on three key interaction parameters: robot velocity profile, human-robot separation distance, and vertical proximity to the user's head. By iteratively refining these parameters based on qualitative feedback from human collaborators, the system dynamically adapts robot trajectories. This personalization aims to enhance users' confidence in the robot's actions and foster a more trusting collaborative environment. In our user study with fourteen participants, we simulated a chemical industrial scenario for the HRC task. Results suggest that the framework effectively promotes human operator confidence in the robot assistant, particularly for individuals with limited prior experience in robotics.",

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author = "Giulio Campagna and Marta Lagomarsino and Marta Lorenzini and Dimitrios Chrysostomou and Matthias Rehm and Arash Ajoudani",

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doi = "10.1109/LRA.2024.3455792",

language = "English",

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AU - Lorenzini, Marta

AU - Chrysostomou, Dimitrios

AU - Rehm, Matthias

AU - Ajoudani, Arash

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Promoting Trust in Industrial Human-Robot Collaboration through Preference-Based Optimization

Abstract

Bibliographical note

Keywords

UN SDGs

Access to Document

AUB Link

Other files and links

Fingerprint

Automatic Assessment of Trust in Human Robot Interaction

Italian Institute of Technology

Aalborg Robotics Challenge (Organisational unit)

Cite this

Promoting Trust in Industrial Human-Robot Collaboration through Preference-Based Optimization

Abstract

Bibliographical note

Keywords

UN SDGs

Access to Document

AUB Link

Other files and links

Fingerprint

Projects

Automatic Assessment of Trust in Human Robot Interaction

Activities

Italian Institute of Technology

Aalborg Robotics Challenge (Organisational unit)

Cite this