概要

The long term success of a human-robot interaction will depend on how comfortable and safe a human feels with it. But which feature of a robot’s movement determines human comfort? To address this question, here we considered four different models of human discomfort. We then designed an empirical human-robot co-worker task that enables us to both, quantify the discomfort experienced by the human co-worker by analyzing behavioral changes, and examine which model of discomfort explains the changes best. Using this task, we show that the perceived uncertainty in a robot’s movement is a key determinant of human discomfort, and we discuss how movement uncertainty can give a unified explanation for the modulation of human comfort with robots, and trust in them, as reported in several previous studies.

収録
In Proc. The 6th International Conference on Control, Automation and Robotics