Mixed Reality and Human-Robot Interaction (eBook)

Title Page 2
Preface 6
Contents 9
What Is Mixed Reality, Anyway? Considering the Boundaries of Mixed Reality in the Context of Robots 10
Introduction 10
Considering Boundaries in Mixed Reality 11
The Mixed Reality Integrated Environment (MRIE) 11
Basic Implementation 13
Defining Mixed Reality 14
Milgram and Kishino 15
Mixed Reality and Tangible-User Interfaces 15
Revisiting the Meaning of Mixed Reality Interaction 16
What Mixed Reality Provides 16
Robots and Mixed Reality 17
Agency 17
Mixed-Reality Entities 18
Discussion 18
Conclusion 19
References 19
User-Centered HRI: HRI Research Methodology for Designers 21
Introduction 21
User-Centered HRI 22
HRI Research Framework for Designers 23
Research Elements in Robotics Engineering: P, C, A 23
Research Elements in Design 24
Research Elements in HRI Design 25
Research Framework for HRI Design 27
User-Centered HRI Design Case Studies 29
Case Studies on Aesthetic Contextuability in HRI 29
Case Studies on the Operational Contextuability of HRI 32
Studies on the Social Contextuability of HRI 36
Conclusion 39
References 40
Mental Transformations in Human-Robot Interaction 42
Introduction 42
Background 44
Components and Coordinate Frames 44
The Cost of Mental Tranformations 46
Single Camera/Display Interface 47
Control Rotation 48
Control Translation 49
View Rotation 50
How to Design a Single Camera/Display Interface 51
Multiple Camera/Display Interfaces 52
Multiple Control and View Relationships 52
How to Design a Multiple Camera/Display Interface 52
Ergonomics and Camera Motion 55
Argonne Redesigned 55
Conclusion 56
References 57
Computational Cognitive Modeling of Human-Robot Interaction Using a GOMS Methodology 59
Introduction 59
Method 62
Task 62
Robot Platform 63
Cognitive Modeling Tools and Features 64
Experimental Approach 65
Results 70
Navigation Time 70
Rover Path Tracking Deviations 71
Discussion 74
General Discussion 75
Conclusion 77
References 80
A Mixed Reality Based Teleoperation Interface for Mobile Robot 82
Introduction 82
Conventional Ways Overview 85
Mixed Reality Interface 89
Intelligent Application Context 92
Summary 96
References 97
Evaluating the Usability of Virtual Environment by Employing Affective Measures 99
Introduction 99
Affective Computing 101
The Affective Measures 102
Extracting Affective Measures from the Forehead 103
Our Studies Based on the Forehead Affective Measures 104
Designing Adaptive Human Machine Interface Based on Affective Measures 104
A New Approach on Designing Affective Interface for Training Forearm Prosthesis Users in Virtual Environment 105
Using Affective Human-Machine Interface to Increase the Operation Performance in Virtual Construction Crane Training System 106
Relation between Cognitive Load and Affective Measures 107
How Does VRE Designing Effect on User's Performance? 109
Identifying the Effect of Music Playing on the Affective Status 110
Conclusion 111
References 112
Security Robot Simulator 114
Requirements of the Security Robot Application 114
Literature Review 117
Concepts of SRS 118
Simulation Core 119
Scenario Event Module 119
Patrol Planner Module 120
Robot Unit Module 121
Civilian Module 121
Cooperative Model between Components 122
Implementation 122
Simulation Core Using MSRDS 122
Scenario Events Module 124
Patrol Planner Module 126
Robot Unit Module 128
Civilian Module 130
Discussion 132
Conclusions 132
References 133
Companion Migration – Initial Participants’ Feedback from a Video-Based Prototyping Study 136
Introduction 136
Research Questions and Methodologies 137
Video-Based Methodology 138
Back Translation of Questionnaire 138
Context of Migration 138
Companion Retention of Identity 139
User’s Privacy, Context of Use and the Functionality of Migrating Companions 140
Study Design 140
The Participants 140
The Videos 140
Experimental Procedure 143
Questionnaire 144
Results 144
Companion Migration between Computers 144
Companion Migration between Computer and Robot 146
Participants’ General View on Migration Technology 147
Personalisation of Your Companion 148
Discussions 149
Relevant Issues for Companion Migration 151
Authorisation for Migration 151
Authorisation for Accessing an Embodiment 152
Authorisation for Accessing the Data Stored in the Embodiment 152
References 153
Author Biographies 155
Author Index 161
Index 162