论文标题
一个小型机器人应该有一个小的个人空间吗？调查人类机器人互动中的个人空间区域和交际行为
Should a small robot have a small personal space? Investigating personal spatial zones and proxemic behavior in human-robot interaction
论文作者
论文摘要
本文介绍了一系列有关个人空间区域在人类机器人相互作用中的作用的亲近实验的研究。在研究中，有40名参与者接触了一个NAO机器人，该机器人大约位于参与者的眼睛水平，并在机器人周围（个人和亲密空间）进入了不同的社交区域。当机器人感知到即将进入其个人空间的人时，它开始凝视参与者，并且在其靠近的亲密空间的入侵之后。我们的研究问题是：（1）鉴于机器人的尺寸很小（高58厘米），人们会期望其社交区域的大小缩小吗？ （2）机器人行为会被解释为适当的社会行为吗？我们发现，参与者的平均接近距离为48厘米，代表了人类大小的个人区域（45-120 cm）的内部限制，但不在个人区域之外，缩放到机器人大小（16-42厘米）。这表明大多数参与者没有（完全）将这些区域的范围扩展到机器人大小。我们还发现，大多数参与者将机器人的倾斜行为正确解释为机器人对其个人空间的侵入的反应。但是，我们对行为的实施通常被认为是“不友好的”。我们将详细讨论研究的这一局限性。此外，我们发现参与者的性格特征，Godspeed问卷分量表和平均进近距离之间的正相关。这项工作的技术贡献是使用单个紧凑型RGB-D摄像头对人体25个关键的实时感知，并使用这些点以进行准确的人际距离估计，并作为机器人的凝视目标。
This paper presents the first study in a series of proxemics experiments concerned with the role of personal spatial zones in human-robot interaction. In the study 40 participants approached a NAO robot positioned approximately at participants' eye level and entered different social zones around the robot (personal and intimate space). When the robot perceived the approaching person entering its personal space, it started gazing at the participant, and upon the intrusion of its intimate space it leaned back. Our research questions were: (1) given the small size of the robot (58 cm tall), will people expect its social zones to shrink by its size? (2) Will the robot behaviors be interpreted as appropriate social behaviors? We found that the average approach distance of the participants was 48 cm, which represents the inner limit of the human-size personal zone (45-120 cm), but is outside of the personal zone scaled to robot size (16-42 cm). This suggests that most participants did not (fully) scale down the extent of these zones to the robot size. We also found that the leaning back behavior of the robot was correctly interpreted by most participants as the robot's reaction to the intrusion of its personal space; however, our implementation of the behavior was often perceived as "unfriendly". We will discuss this and other limitations of the study in detail. Additionally we found positive correlations between participants' personality traits, Godspeed Questionnaire subscales, and the average approach distance. The technical contribution of this work is the real-time perception of 25 keypoints on the human body using a single compact RGB-D camera and the use of these points for accurate interpersonal distance estimation and as gazing targets for the robot.
