The design of electronic map displays
Human Factors
Overview of clinical trials with MIT-MANUS: a robot-aided neuro-rehabilitation facility
Technology and Health Care
Map Usage in Virtual Environments: Orientation Issues
VR '99 Proceedings of the IEEE Virtual Reality
Common metrics for human-robot interaction
Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction
Natural person-following behavior for social robots
Proceedings of the ACM/IEEE international conference on Human-robot interaction
RSVP: an investigation of remote shared visual presence as common ground for human-robot teams
Proceedings of the ACM/IEEE international conference on Human-robot interaction
A field experiment of autonomous mobility: operator workload for one and two robots
Proceedings of the ACM/IEEE international conference on Human-robot interaction
Simultaneous teleoperation of multiple social robots
Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
I am my robot: the impact of robot-building and robot form on operators
Proceedings of the 4th ACM/IEEE international conference on Human robot interaction
Nonverbal leakage in robots: communication of intentions through seemingly unintentional behavior
Proceedings of the 4th ACM/IEEE international conference on Human robot interaction
Mobile human-robot teaming with environmental tolerance
Proceedings of the 4th ACM/IEEE international conference on Human robot interaction
A conversational robot in an elderly care center: an ethnographic study
Proceedings of the 6th international conference on Human-robot interaction
Effect of robot's active touch on people's motivation
Proceedings of the 6th international conference on Human-robot interaction
Hospital robot at work: something alien or an intelligent colleague?
Proceedings of the ACM 2012 conference on Computer Supported Cooperative Work
Taking your robot for a walk: force-guiding a mobile robot using compliant arms
Proceedings of the 8th ACM/IEEE international conference on Human-robot interaction
Force-guidance of a compliant omnidirectional non-holonomic platform
Robotics and Autonomous Systems
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When a user is in close proximity to a robot, physical contact becomes a potentially valuable channel for communication. People often use direct physical contact to guide a person to a desired location (e.g., leading a child by the hand) or to adjust a person's posture for a task (e.g., a dance instructor working with a dancer). Within this paper, we present an implementation and evaluation of a direct physical interface for a human-scale anthropomorphic robot. We define a direct physical interface (DPI) to be an interface that enables a user to influence a robot's behavior by making contact with its body. Human-human interaction inspired our interface design, which enables a user to lead our robot by the hand and position its arms. We evaluated this interface in the context of assisting nurses with patient lifting, which we expect to be a high-impact application area. Our evaluation consisted of a controlled laboratory experiment with 18 nurses from the Atlanta area of Georgia, USA. We found that our DPI significantly outperformed a comparable wireless gamepad interface in both objective and subjective measures, including number of collisions, time to complete the tasks, workload (Raw Task Load Index), and overall preference. In contrast, we found no significant difference between the two interfaces with respect to the users' perceptions of personal safety.