ロボットと直接ジェスチャで対話：エンドエフェクタを動かす新手法
Hands-On Robotics: Enabling Communication Through Direct Gesture Control
ロボットのエンドエフェクタを動かす4種類のジェスチャ（握手2種と文字W・S）で人間が直接コミュニケーションできる手法を提案し、16名のユーザー研究で約100%の精度で識別可能なことを示した。
著者: Max Pascher, Alia Saad, Jonathan Liebers, Roman Heger, Jens Gerken, Stefan Schneegass, Uwe Gruene
分類: cs.HC, cs.RO
原文アブストラクト
Effective Human-Robot Interaction (HRI) is fundamental to seamlessly integrating robotic systems into our daily lives. However, current communication modes require additional technological interfaces, which can be cumbersome and indirect. This paper presents a novel approach, using direct motion-based communication by moving a robot's end effector. Our strategy enables users to communicate with a robot by using four distinct gestures -- two handshakes ('formal' and 'informal') and two letters ('W' and 'S'). As a proof-of-concept, we conducted a user study with 16 participants, capturing subjective experience ratings and objective data for training machine learning classifiers. Our findings show that the four different gestures performed by moving the robot's end effector can be distinguished with close to 100% accuracy. Our research offers implications for the design of future HRI interfaces, suggesting that motion-based interaction can empower human operators to communicate directly with robots, removing the necessity for additional hardware.
