The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch. Presented at AISB 2008 Symposium on the Reign of Catz & Dogz: The Second AISB Symposium on the Role of Virtual Creatures in a Computerised Society. Aberdeen, Scotland, UK; April 1-4 2008. More info at http://yohanan.org/steve/projects/haptic-creature/.
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AISB 2008 — The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch
1. The Haptic Creature Project
Social Human-Robot Interaction
through
Affective Touch
Steve Yohanan
Karon E MacLean
SPIN Research Group
Dept of Computer Science
University of British Columbia
2. Overview
● Introduction
● Background
● Haptic Creature
● User Studies
● Conclusion
The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 2
3. Overview
➢ Introduction ● Affective Touch
● Background ● Human-Animal
Interaction
● Haptic Creature
● User Studies
● Conclusion
The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 3
4. Introduction
Affective Touch
“Touch that communicates or evokes emotion”
● Display, recognition, and
influence
● Companionship
● Investigate use in social
HRI
The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 4
5. Introduction
Human-Animal Interaction
Our Approach
● Leverage HAI
● Construct a “Haptic
Creature”
● Conduct user studies
The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 5
6. Overview
● Introduction
➢ Background
● Haptic Creature
● User Studies
● Conclusion
The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 6
7. Background
Research Areas
The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 7
8. Background
Socially Interactive Robotics & Affect Display
Facial Expression, Speech Prosody
FACS (Ekman) Kismet (Breazeal)
The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 8
9. Background
Affective Touch & Human-Animal Interaction
Modality Much Less Studied
The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 9
10. Background
Differentiation
Zoomorphism, Affect, Touch
Aibo (Sony) Huggable (Stiehl)
Paro (Shibata) Probo (ANTY)
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11. Background
Differentiation
Affect display centered around touch
● Recognition &
expression chiefly
through touch
● Lower degree of
zoomorphism
● Role of affective touch in
companionship
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12. Overview
● Introduction Development Phases
● Background Architecture
➢ Haptic Creature
● User Studies
● Conclusion
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13. Haptic Creature
Development Phases
● Wizard of Oz Prototype
● Automated Prototype
● Final Creature
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14. Haptic Creature
Development Phases
Wizard of Oz Prototype
● Breathing, purring,
articulated ears, body
warmth
● All elements hand actuated
● Preliminary investigation of
affective touch and HAI
The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 14
15. Haptic Creature
Development Phases
Automated Prototype
● Fully computer controlled
● Rapid testing of
software, hardware,
interaction techniques
The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 15
16. Haptic Creature
Development Phases
Final Creature
● Reuse software
components
● Install more robust
sensors, actuators
● Deploy in field study
The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 16
17. Haptic Creature
Architecture
The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 17
18. Haptic Creature
Architecture
Sensing and Actuation
The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 18
19. Haptic Creature
Architecture
Higher-Order Processes
The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 19
20. Overview
● Introduction Preliminary Investigation
● Background Interaction
Decomposition
● Haptic Creature
Companionship
● User Studies
● Conclusion
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21. User Studies
Preliminary Investigation
Wizard of Oz in Action
● Can emotion be
communicated clearly
through haptic means?
● Does this communication
affect the recipient?
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22. User Studies
Interaction Decomposition
Additive Studies
● Divide interaction into
component parts
● Study specific cells
● Subsequent studies
between two cells
The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 22
23. User Studies
Companionship
Longitudinal Field Study
● What is the role of
affective touch on
companionship?
● Is this mediated form
successful?
● Study the effects of the
interaction
The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 23
24. Overview
● Introduction
● Background
● Haptic Creature
● User Studies
➢ Conclusion
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25. Conclusion
● Investigate affective
touch in social HRI
● Borrow from HAI
● Haptic Creature and
related user studies
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26. Thank You
Questions?
The Haptic Creature Project: Social Human-Robot Interaction through Affective Touch — AISB 2008 (S Yohanan) 26
Notes de l'éditeur
Introduce yourself, supervisor, lab State title of talk Note that this is PhD research
General Overview
Overview of Introduction
Brief definition of affective touch Interested in... - display, recognition, influence of affective touch - how affective touch contributes to companionship - application of affective touch in social human-robot interaction
Simply iterate through points on slide
Overview of Background
Draw from seemingly disparate research areas Will discuss SIR + Affect then Touch + HAI
SIR is HRI where social interaction plays a key role unlike conventional HRI (teleoperation) Affect display is important aspect of social interaction Affect display is the external manifestation of internal emotional state Human affect display studies concentrate on visual and auditory modalities: facial expression, speech prosody SIR has followed in-kind
Touch has seen much less attention Touch is unique: - skin is largest sense organ & first to develop - major role in early development - touch is proximal, requiring direct physical contact Reiterate affective touch definition Problems with general studies of touch: - gender, social status, familiarity, culture Draw inspiration from HAI: - less loaded - wealth of non-verbal communication - human-animal bond
Filtered through the various research areas, several projects overlap with Haptic Creature Social robots combining touch interaction + animal-like form
Primary differentiation is strong concentration on touch modaltiy Full-body touch sensing Affect display does not use facial expression or speech prosody Animal-like form but more amorphous
Overview of Haptic Creature
(Sub-)Overview.
Status: complete Deployed in related user study Five emotional responses: playing dead, asleep, content, happy, upset Ten interactions: shake, leave alone, rub ears, pet (gentle, vigorous), poke, pinch, hug, tickle, rest hand atop Results fed into design of automated version
Status: in development. Briefly describe image. Rapid testing of software, hardware, interaction techniques. Obviate need for human control. Rudimentary initial implementation. Improve into robust platform.
Simply iterate through points on slide
Briefly describe diagram. Example using “gentle stroke” interaction and “pleasured” response.
Physical sensing (actuating) hardware. Programmatic aspects to read (set) sensors (actuator) data. Little/no data interpretation. Example: FSR whose value changes based on pressure (setting the position of a motor).
Manage variety of sensor data. Build cohesive view. Higher-order model of input data. Example: array of FSRs, when monitored, can determine speed, direction, intensity of stoke.
Overview of User Studies
Method: participants presented with WOZ prototype; Asked to interact with it; Measured their reaction to it Goal: preliminary justification of examining animal-like behaviors in haptic communication
Focus: ensure platform is performing as expected. Low-level: correctly contact or motion of a stroke. High-level: correctly identify and render emotional response. Method: series of studies to test various functions of platform. Ex: correctness of input sensors, output actuators. Ex: rendered responses clear to users. Goal: validate platform implementation and execution. Models of (platform/user) emotional behavior will be determined.
Focus: implications of affective touch on connectedness. Emphasis on HAI. Interested less on way interactions occur, more on their effects. Method: participants interact with device over extended periods. Goal: deeper understanding touch plays in connectedness. Quantifiable measures for connectedness, patterns for communication.