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Person Transfer in the Field: Examining Real World Sequential Human-Robot Interaction Between Two Robots

Xiang Zhi Tan, Elizabeth J. Carter, Aaron Steinfeld

TL;DR

An exploratory field study in which unsuspecting participants experienced a "person transfer" – a scenario in which they first interacted with one stationary robot before another mobile robot joined to complete the interaction.

Abstract

With more robots being deployed in the world, users will likely interact with multiple robots sequentially when receiving services. In this paper, we describe an exploratory field study in which unsuspecting participants experienced a ``person transfer'' -- a scenario in which they first interacted with one stationary robot before another mobile robot joined to complete the interaction. In our 7-hour study spanning 4 days, we recorded 18 instances of person transfers with 40+ individuals. We also interviewed 11 participants after the interaction to further understand their experience. We used the recorded video and interview data to extract interesting insights about in-the-field sequential human-robot interaction, such as mobile robot handovers, trust in person transfer, and the importance of the robots' positions. Our findings expose pitfalls and present important factors to consider when designing sequential human-robot interaction.

Person Transfer in the Field: Examining Real World Sequential Human-Robot Interaction Between Two Robots

TL;DR

An exploratory field study in which unsuspecting participants experienced a "person transfer" – a scenario in which they first interacted with one stationary robot before another mobile robot joined to complete the interaction.

Abstract

With more robots being deployed in the world, users will likely interact with multiple robots sequentially when receiving services. In this paper, we describe an exploratory field study in which unsuspecting participants experienced a ``person transfer'' -- a scenario in which they first interacted with one stationary robot before another mobile robot joined to complete the interaction. In our 7-hour study spanning 4 days, we recorded 18 instances of person transfers with 40+ individuals. We also interviewed 11 participants after the interaction to further understand their experience. We used the recorded video and interview data to extract interesting insights about in-the-field sequential human-robot interaction, such as mobile robot handovers, trust in person transfer, and the importance of the robots' positions. Our findings expose pitfalls and present important factors to consider when designing sequential human-robot interaction.
Paper Structure (20 sections, 6 figures)

This paper contains 20 sections, 6 figures.

Table of Contents

  1. Introduction
  2. Related Work
  3. Method
  4. Study Environment & System
  5. System
  6. Scenario
  7. Study Setup
  8. Participants & Recruitment
  9. Findings & Discussion
  10. Overall Impressions
  11. Trust in Person Transfers
  12. Mobile Robot Handover
  13. Change in Group Membership
  14. Mobile Robot Joining Position
  15. Effects of Keyboard Inputs & Failures of Speech-to-Text
  16. ...and 5 more sections

Figures (6)

  • Figure 1: Left: A participant taking the stickers from the mobile robot as the mobile robot finished its movement. Right: A participant reacting to the arrival of the mobile robot.
  • Figure 2: Illustrations of the study scene layout. The bottom image shows the layout of the building with the locations of the disclosure signs. The top image shows the zoomed-in study location with the recorded region marked in pink.
  • Figure 3: Video stills showing participants leaving after Tank informed them it had run out of stickers and returning after the mobile robot arrived. (1) A group of participants interacting with Tank. (2) The group walking away after Tank told them it ran out of stickers. (3) One of the participants (in blue) saw the mobile robot, pointed at it, and called for the group. (4 & 5) The group returned and surrounded the mobile robot to get the stickers.
  • Figure 4: Video stills showing a participant (P4, blue backpack) joining an ongoing interaction. From left to right: (1) P4 joined two other participants who were interacting with the robot. (2) The mobile robot was summoned and moved towards them. (3) P4 stepped back as the robot approached them. (4) P4 observed the interaction between the mobile robot and the other two participants. (5) P4 stepped further away as the interaction progressed.
  • Figure 5: Video stills of a group of people walking through the group interactions. From left to right: The participant (red shirt) observed the greeting between robots. A group of people simply walked between the robot and the participants. After the group passed, the participant approached the mobile robot to get the sticker.
  • ...and 1 more figures