Human-in-the-loop robot teleoperation interfaces enable operators to control robots to complete complex tasks, as seen by the success of teams in the DARPA Robotics Challenge (DRC). In this work, we compare two human-in-the-loop planning interfaces, a 2D keyboard and mouse (KBM) interface modeled after those used in the DRC and a 3D virtual reality (VR) interface, for teleoperating a robot to perform navigation and manipulation tasks. In our study, we investigated operator performance, and cognitive workload while using the interface, as well as the perceived usability of each. We found that participants had better performance in both task types when using the KBM interface, however they experienced fewer collisions between the robot and the world in the VR interface. Given these findings, we recommend utilizing a KBM interface in low-risk situations where task performance is the primary factor. In high-risk scenarios, where collisions can be detrimental, we recommend using VR. With this work we aim to contribute to building effective and intuitive interfaces for human-in-the-loop planning to allow robots to complete complex tasks in challenging environments.

The current work explored to what extent a robot could persuade people to participate in charitable giving by offering moral advice grounded in different ethical theories. In a laboratory, participants, who are students at a university, first performed a task to acquire lottery tickets and then received from a robot information about a charity event organized for students at their university. The robot also offered them moral advice of which the underlying framework was grounded in either deontological or Confucian role ethics to encourage donating their lottery tickets to the event. We found advice grounded in Confucian role ethics to be more effective in inducing donations than advice grounded in deontological ethics. We also found that the more strongly participants felt close to other students at their university, the less donations they would make after receiving advice grounded in deontological ethics. These findings suggest the benefits of framing moral messages of robots based upon theories of Confucian role ethics in promoting prosocial behavior. We discuss potential explanations for the negative relationship between participants’ sense of closeness with other students and their donation behavior when the robot’s advice focuses on theories of deontological ethics.

Because robots are perceived as moral agents, they must behave in accordance with human systems of morality. This responsibility is especially acute for language-capable robots because moral communication is a method for building moral ecosystems. Language capable robots must not only make sure that what they say adheres to moral norms; they must also actively engage in moral communication to regulate and encourage human compliance with those norms. In this work, we describe four experiments (total N =316) across which we systematically evaluate two different moral communication strategies that robots could use to influence human behavior: a norm-based strategy grounded in deontological ethics, and a role-based strategy grounded in role ethics. Specifically, we assess the effectiveness of robots that use these two strategies to encourage human compliance with norms grounded in expectations of behavior associated with certain social roles. Our results suggest two major findings, demonstrating the importance of moral reflection and moral practice for effective moral communication: First, opportunities for reflection on ethical principles may increase the efficacy of robots’ role-based moral language; and second, following robots’ moral language with opportunities for moral practice may facilitate role-based moral cultivation.

In two surveys of adults in the United States (N=723), we asked about perceptions of the degree to which a variety of behaviors, when engaged in with a sex robot or a human, would constitute monogamous relationship infidelity (Study 1), and also asked respondents to consider monogamous partner behavior when committed with a robot that was matched to sexual partner preferences (Study 2). Study 1 revealed that acts committed with sex robots were considered less severe and less likely to be judged as infidelity as those same acts committed with another human. Results further revealed that male survey respondents rated all partner behaviors with sex robots as less likely to constitute cheating behavior than their female counterparts. This finding may be explained by the portrayal of sex robots as hyper-feminized female sexual partners for men, both in the way these technologies are presented as well as how they are sold. However, when asked to consider a sex robot that was matched to males or females (Study 2), this difference disappeared. For all respondents, giving sex robots specificity as either male or female resulted in higher ratings of partner infidelity as compared to Study 1. This work allows us to empirically speak to a common concern at the center of many debates over the societal implications of sex robots---potential harm to human relationships.

Identifying acute events as they occur is challenging in large hospital systems. Here, we describe an automated method to detect 2 rare adverse drug events (ADEs), drug-induced torsades de pointes and Stevens-Johnson syndrome and toxic epidermal necrolysis, in near real time for participant recruitment into prospective clinical studies. A text processing system searched clinical notes from the electronic health record (EHR) for relevant keywords and alerted study personnel via email of potential patients for chart review or in-person evaluation. Between 2016 and 2018, the automated recruitment system resulted in capture of 138 true cases of drug-induced rare events, improving recall from 43% to 93%. Our focused electronic alert system maintained 2-year enrollment, including across an EHR migration from a bespoke system to Epic. Real-time monitoring of EHR notes may accelerate research for certain conditions less amenable to conventional study recruitment paradigms.

OBJECTIVE: We developed and evaluated Drug-Drug Interaction Wide Association Study (DDIWAS). This novel method detects potential drug-drug interactions (DDIs) by leveraging data from the electronic health record (EHR) allergy list. MATERIALS AND METHODS: To identify potential DDIs, DDIWAS scans for drug pairs that are frequently documented together on the allergy list. Using deidentified medical records, we tested 616 drugs for potential DDIs with simvastatin (a common lipid-lowering drug) and amlodipine (a common blood-pressure lowering drug). We evaluated the performance to rediscover known DDIs using existing knowledge bases and domain expert review. To validate potential novel DDIs, we manually reviewed patient charts and searched the literature. RESULTS: DDIWAS replicated 34 known DDIs. The positive predictive value to detect known DDIs was 0.85 and 0.86 for simvastatin and amlodipine, respectively. DDIWAS also discovered potential novel interactions between simvastatin-hydrochlorothiazide, amlodipine-omeprazole, and amlodipine-valacyclovir. A software package to conduct DDIWAS is publicly available. CONCLUSIONS: In this proof-of-concept study, we demonstrate the value of incorporating information mined from existing allergy lists to detect DDIs in a real-world clinical setting. Since allergy lists are routinely collected in EHRs, DDIWAS has the potential to detect and validate DDI signals across institutions.

Although non-verbal cues such as arm movement and eye gaze can convey robot intention, they alone may not provide enough information for a human to fully understand a robot’s behavior. To better understand how to convey robot intention, we conducted an experiment ( N = 366 ) investigating the need for robots to explain , and the content and properties of a desired explanation such as timing , engagement importance , similarity to human explanations, and summarization . Participants watched a video where the robot was commanded to hand an almost-reachable cup and one of six reactions intended to show the unreachability : doing nothing (No Cue), turning its head to the cup (Look), or turning its head to the cup with the addition of repeated arm movement pointed towards the cup (Look & Point), and each of these with or without a Headshake. The results indicated that participants agreed robot behavior should be explained across all conditions, in situ , in a similar manner as what human explain, and provide concise summaries and respond to only a few follow-up questions by participants. Additionally, we replicated the study again with N = 366 participants after a 15-month span and all major conclusions still held.

Human–robot collaboration is becoming increasingly common in factories around the world; accordingly, we need to improve the interaction experiences between humans and robots working in these spaces. In this article, we report on a user study that investigated methods for providing information to a person about a robot’s intent to move when working together in a shared workspace through signals provided by the robot. In this case, the workspace was the surface of a tabletop. Our study tested the effectiveness of three motion-based and three light-based intent signals as well as the overall level of comfort participants felt while working with the robot to sort colored blocks on the tabletop. Although not significant, our findings suggest that the light signal located closest to the workspace—an LED bracelet located closest to the robot’s end effector—was the most noticeable and least confusing to participants. These findings can be leveraged to support human–robot collaborations in shared spaces.

The 2ndInternational Workshop on Virtual, Augmented, and Mixed Reality for Human-Robot Interactions (VAM-HRI) will bring together HRI, Robotics, and Mixed Reality researchers to identify challenges in mixed reality interactions between humans and robots. Topics relevant to the workshop include development of robots that can interact with humans in mixed reality, use of virtual reality for developing interactive robots, the design of new augmented reality interfaces that mediate communication between humans and robots, comparisons of the capabilities and perceptions of robots and virtual agents, and best design practices. VAM-HRI was held for the first time at HRI 2018, where it served as the first workshop of its kind at an academic AI or Robotics conference, and served as a timely call to arms to the academic community in response to the growing promise of this emerging field. VAM-HRI 2019 will follow on the success of VAM-HRI 2018, and present new opportunities for expanding this nascent research community.

Mixed Reality (MR) is a promising interface for robot programming because it can project an immersive 3D visualization of a robot's intended movement onto the real world. MR can also support hand gestures, which provide an intuitive way for users to construct and modify robot motions. We present a Mixed Reality Head-Mounted Display (MRHMD) interface that enables end-users to easily create and edit robot motions using waypoints. We describe a user study where 20 participants were asked to program a robot arm using 2D and MR interfaces to perform two pick-and-place tasks. In the primitive task, participants created typical pickand-place programs. In the adapted task, participants adapted their primitive programs to address a more complex pickand-place scenario, which included obstacles and conditional reasoning. Compared to the 2D interface, a higher number of users were able to complete both tasks in significantly less time, and reported experiencing lower cognitive workload, higher usability, and higher naturalness with the MR-HMD interface.

Socially intelligent artificial agents and robots are anticipated to become ubiquitous in home, work, and military environments. With the addition of such agents to human teams it is crucial to evaluate their role in the planning, decision making, and conflict mediation processes. We conducted a study to evaluate the utility of a virtual agent that provided mission planning support in a three-person human team during a military strategic mission planning scenario. The team consisted of a human team lead who made the final decisions and three supporting roles, two humans and the artificial agent. The mission outcome was experimentally designed to fail and introduced a conflict between the human team members and the leader. This conflict was mediated by the artificial agent during the debriefing process through discuss or debate and open communication strategies of conflict resolution [1]. Our results showed that our teams experienced conflict. The teams also responded socially to the virtual agent, although they did not find the agent beneficial to the mediation process. Finally, teams collaborated well together and perceived task proficiency increased for team leaders. Socially intelligent agents show potential for conflict mediation, but need careful design and implementation to improve team processes and collaboration.

Anthropomorphic robots, or robots with human-like appearance features such as eyes, hands, or faces, have drawn considerable attention in recent years. To date, what makes a robot appear human-like has been driven by designers» and researchers» intuitions, because a systematic understanding of the range, variety, and relationships among constituent features of anthropomorphic robots is lacking. To fill this gap, we introduce the ABOT (Anthropomorphic roBOT) Database---a collection of 200 images of real-world robots with one or more human-like appearance features (http://www.abotdatabase.info). Harnessing this database, Study 1 uncovered four distinct appearance dimensions (i.e., bundles of features) that characterize a wide spectrum of anthropomorphic robots and Study 2 identified the dimensions and specific features that were most predictive of robots» perceived human-likeness. With data from both studies, we then created an online estimation tool to help researchers predict how human-like a new robot will be perceived given the presence of various appearance features. The present research sheds new light on what makes a robot look human, and makes publicly accessible a powerful new tool for future research on robots» human-likeness.

Virtual reality (VR)systems let users intuitively interact with 3D environments and have been used extensively for robotic teleoperation tasks. While more immersive than their 2D counterparts, early VR systems were expensive and required specialized hardware. Fortunately, there has been a recent proliferation of consumer-grade VR systems at affordable price points. These systems are inexpensive, relatively portable, and can be integrated into existing robotic frameworks. Our group has designed a VR teleoperation package for the Robot Operating System (ROS), ROS Reality, that can be easily integrated into such frameworks. ROS Reality is an open-source, over-the-Internet teleoperation interface between any ROS-enabled robot and any Unity-compatible VR headset. We completed a pilot study to test the efficacy of our system, with expert human users controlling a Baxter robot via ROS Reality to complete 24 dexterous manipulation tasks, compared to the same users controlling the robot via direct kinesthetic handling. This study provides insight into the feasibility of robotic teleoperation tasks in VR with current consumer-grade resources and exposes issues that need to be addressed in these VR systems. In addition, this paper presents a description of ROS Reality, its components, and architecture. We hope this system will be adopted by other research groups to allow for easy integration of VR teleoperated robots into future experiments.

Gone are the days of robots solely operating in isolation, without direct interaction with people. Rather, robots are increasingly being deployed in environments and roles that require complex social interaction with humans. The implementation of human-robot teams continues to increase as technology develops in tandem with the state of human-robot interaction (HRI) research. Trust, a major component of human interaction, is an important facet of HRI. However, the ideas of trust repair and trust violations are understudied in the HRI literature. Trust repair is the activity of rebuilding trust after one party breaks the trust of another. These trust breaks are referred to as trust violations . Just as with humans, trust violations with robots are inevitable; as a result, a clear understanding of the process of HRI trust repair must be developed in order to ensure that a human-robot team can continue to perform well after a trust violation. Previous research on human-automation trust and human-human trust can serve as starting places for exploring trust repair in HRI. Although existing models of human-automation and human-human trust are helpful, they do not account for some of the complexities of building and maintaining trust in unique relationships between humans and robots. The purpose of this article is to provide a foundation for exploring human-robot trust repair by drawing upon prior work in the human-robot, human-automation, and human-human trust literature, concluding with recommendations for advancing this body of work.

The future vision of military Soldier—robot teams is one in which Soldiers and robots work together to complete separate, but interdependent tasks that advance the goals of the mission. However, in the near term, robots will be limited in their ability to successfully perform tasks without, at least, occasional assistance from their human teammates. A need exists to design, in robots, mechanisms that can support human situation awareness (SA) regarding the operations of the robot, which humans can use to provide interventions in robot tasks. The purpose of the current study was to test the effects of information exchanges provided by a robot on the development of SA in a human partner, under differing levels of visual perspective taking, and the consequential effects on the quality of human assistance provided to a robot. After data screening, fifty-six male participants ranging in age from 18 to 29 (M= 18.89, SD= 3.412) were included in the analysis of the results. Hierarchical multiple regression and a series of ANOVAs with comparisons between individual within-subjects study conditions were conducted to analyze five Hypotheses. The results of this study revealed that if robots, through robot-to-human information exchanges, can increasingly support a human's understanding of when assistance is needed, humans will be better able to provide that assistance. As opposed to originally hypothesized, this study also showed that fewer instances in which robots share status information with their human counterparts may be more beneficial for supporting awareness, assistance, and dual task performance than more information sharing, by guarding against performance decrements that could be the result of receiving too many robot-to-human information exchanges. It was also thought that anchoring robot-to-human information sharing with spatial information in reference to the human's view of the environment would be most beneficial for supporting awareness regarding the robot and assistance provided to the robot. This notion was not supported. Instead, results suggested that if extra spatial information is added to robot-to-human information exchanges, representing that spatial information in reference to a cardinal, global-relative perspective of the environment may be better for supporting awareness and assistance than representing that information in reference to the human's view of the environment.

Our work posits that existing human-animal teams can serve as an analog for developing effective human-robot teams. Existing knowledge of human-animal partnerships can be readily applied to the HRI domain to foster accurate mental models and appropriately calibrated trust in future human-robot teams. Human-animal relationships are examined in terms of the benefiting roles animals can play in enabling effective teaming, as well as the level of team interdependency and team communication, with the goal of developing applications in future human-robot teams.

Privacy and security within Online Social Networks (OSNs) has become a major concern over recent years. As individuals continue to actively use and engage with these mediums, one of the key questions that arises pertains to what unknown risks users face as a result of unchecked publishing and sharing of content and information in this space. There are numerous tools and methods under development that claim to facilitate the extraction of specific classes of personal data from online sources, either directly or through correlation across a range of inputs. In this paper we present a model which specifically aims to understand the potential risks faced should all of these tools and methods be accessible to a malicious entity. The model enables easy and direct capture of the data extraction methods through the encoding of a data-reachability matrix for which each row represents an inference or data-derivation step. Specifically, the model elucidates potential linkages between data typically exposed on social-media and networking sites, and other potentially sensitive data which may prove to be damaging in the hands of malicious parties, i.e., fraudsters, stalkers and other online and offline criminals. In essence, we view this work as a key method by which we might make cyber risk more tangible to users of OSNs.