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Computer Science > Robotics

arXiv:2208.11856 (cs)
[Submitted on 25 Aug 2022]

Title:Design and Implementation of a Human-Robot Joint Action Framework using Augmented Reality and Eye Gaze

Authors:Wesley P. Chan, Morgan Crouch, Khoa Hoang, Charlie Chen, Nicole Robinson, Elizabeth Croft
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Abstract:When humans work together to complete a joint task, each person builds an internal model of the situation and how it will evolve. Efficient collaboration is dependent on how these individual models overlap to form a shared mental model among team members, which is important for collaborative processes in human-robot teams. The development and maintenance of an accurate shared mental model requires bidirectional communication of individual intent and the ability to interpret the intent of other team members. To enable effective human-robot collaboration, this paper presents a design and implementation of a novel joint action framework in human-robot team collaboration, utilizing augmented reality (AR) technology and user eye gaze to enable bidirectional communication of intent. We tested our new framework through a user study with 37 participants, and found that our system improves task efficiency, trust, as well as task fluency. Therefore, using AR and eye gaze to enable bidirectional communication is a promising mean to improve core components that influence collaboration between humans and robots.
Subjects: Robotics (cs.RO)
Cite as: arXiv:2208.11856 [cs.RO]
  (or arXiv:2208.11856v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2208.11856

Submission history

From: Wesley Chan [view email]
[v1] Thu, 25 Aug 2022 03:48:12 UTC (1,538 KB)
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