TY - GEN
T1 - Assessing Perceived Discomfort and Proxemic Behavior towards Robots
T2 - 32nd IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2023
AU - Herzog, Olivia
AU - Nertinger, Simone
AU - Wenzel, Katharina
AU - Naceri, Abdeldjallil
AU - Haddadin, Sami
AU - Bengler, Klaus
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper assesses the usefulness of immersive technology to evaluate perceived discomfort and proxemic behavior towards a robot depending on its size. Therefore, we compared a real and an augmented reality (AR) robot presentation. In a within-subject design, a service humanoid approached participants (N = 32) in four trials in a counterbalanced order. One trial presented a real robot, another showed a same-sized AR version, and two trials showed down-scaled AR versions of the robot. The perceived discomfort and the comfort distance were measured. For the presentation mode comparison, the distance estimation error was measured additionally. The results show that the comfort distance was greater for the AR robot than for the real one. The comfort distance was also greater for the largest robot compared to the smaller sizes, while there was no difference when comparing the smaller ones. There was no difference in perceived discomfort between the presentation modes or the robot sizes. The distance estimation error was greater in AR. The study indicates that results obtained with the AR and real robot are comparable relative to each other. Therefore, utilizing AR could effectively evaluate various versions of robots in terms of the discomfort they induce - a critical prerequisite prior to the manufacturing process. Finally, AR might provide better validity for the evaluation of subjective measures.
AB - This paper assesses the usefulness of immersive technology to evaluate perceived discomfort and proxemic behavior towards a robot depending on its size. Therefore, we compared a real and an augmented reality (AR) robot presentation. In a within-subject design, a service humanoid approached participants (N = 32) in four trials in a counterbalanced order. One trial presented a real robot, another showed a same-sized AR version, and two trials showed down-scaled AR versions of the robot. The perceived discomfort and the comfort distance were measured. For the presentation mode comparison, the distance estimation error was measured additionally. The results show that the comfort distance was greater for the AR robot than for the real one. The comfort distance was also greater for the largest robot compared to the smaller sizes, while there was no difference when comparing the smaller ones. There was no difference in perceived discomfort between the presentation modes or the robot sizes. The distance estimation error was greater in AR. The study indicates that results obtained with the AR and real robot are comparable relative to each other. Therefore, utilizing AR could effectively evaluate various versions of robots in terms of the discomfort they induce - a critical prerequisite prior to the manufacturing process. Finally, AR might provide better validity for the evaluation of subjective measures.
UR - https://www.scopus.com/pages/publications/85187012033
U2 - 10.1109/RO-MAN57019.2023.10309413
DO - 10.1109/RO-MAN57019.2023.10309413
M3 - Conference contribution
AN - SCOPUS:85187012033
T3 - IEEE International Workshop on Robot and Human Communication, RO-MAN
SP - 959
EP - 965
BT - 2023 32nd IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2023
PB - IEEE Computer Society
Y2 - 28 August 2023 through 31 August 2023
ER -