human robot interaction - ryerson · pdf fileprocess so that the reader may understand ......

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Department of Computer Science

Human Robot InteractionPresence

Telepresence Surgery System SRI developed a revolutionarymethod of performing surgery with computer-mediatedsurgical tools that improve accuracy and flexibility,especially in minimally invasive procedures, and provide atechnology platform for remotely performing surgicalprocedures. In 1995, SRI spun off a new company to bringthis new technology to market. Intuitive Surgical is now themarket leader in operative surgical robotics. Visitwww.intuitivesurgical.com for more information.

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LEADERS OF TOMORROWDepartment of Computer Science

About This Class

• Source Material– Measuring Presence: Subjective, Behavioral

and Physiological Methods• Topics

– What is presence– Examples– Ways of measuring it

Available on the course web site. A good paper.

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What is Presence?

• The Sense of “being there”despite being elsewhere.

• The “Perceptual illusion ofNon-mediation”

• Telepresence?– Technologically mediated

remote presence

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Why is this and HRI issue?

• We often perceive the world of the robotthrough it.

• Better presence experience implies abetter interface.

• Why do people buy big TVs

People buy big TVs because it makes them feel like they are there.

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The Trojan Coffee Room

• Cambridge UniversityComputer Science

• Simple, predates theWWW– 1991

• How do you know whencoffee is ready inanother location?

Several people have asked about the origins of the Trojan Roomcoffee pot. It started back in the dark days of 1991, when the WorldWide Web was little more than a glint in CERN's eye. I was workingon ATM networks in a part of the Computer Lab known as the TrojanRoom, (a name which, perhaps, causes some amusement toAmerican readers). There were about fifteen of us involved in relatedresearch and, being poor, impoverished academics, we only had onecoffee filter machine between us, which lived in the corridor justoutside the Trojan Room. However, being highly dedicated and hard-working academics, we got through a lot of coffee, and when a freshpot was brewed, it often didn't last long.Some members of the 'coffeeclub' lived in other parts of the building and had to navigate severalflights of stairs to get to the coffee pot; a trip which often provedfruitless if the all-night hackers of the Trojan Room had got there first.This disruption to the progress of Computer Science researchobviously caused us some distress, and so XCoffee was born.

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Example: Medical Telepresence• Experiential

Video/Audio(EVA)

• DistributedMedicalIntelligence

http://www.mindtel.com/projects/sa/projects/eva/ScenarioEVA System Location: A large refugee campTime: early in 2001Anurse is going to check up on an old man. He had wandered intocamp a few days ago with an infected wound in his arm. After he waspatched up he was tagged with a bio-mon and told to rest. A fewminutes ago his bio-mon showed a jump in heart rate and EMGactivity excess for a resting person. The location display in her HUDshows his tent is just to the right. She's been watching his temp rise.2 degree in just the time she has been walking. As she turns into histent, she sees two of his family members have found him. He'shugging what appear to be his son and granddaughter with greatexcitement. She can't speak the language, so she triggers a voicerecorder and patches the audio stream into the local log in case theyare saying something useful to intel. She tracks her head mountcamera across the other faces and triggers input to the camp IDdatabase. Face recognition shows a 50% on the man and a zero onthe girl, and they have no badges, so she logs them as newcomersand tags the time and contact with the old man. She gently separatesthem from the old man, scrolls through a phrase book in her HUDand tells him to lay down and rest. She then finds a phrase to tell thepair to go to the center camp and get checked over. She flags thedatabase to assign them to this tent after intake processing. As sheleaves the old man's tent an emergency alarm vibrates behind and tothe right through her headset. She turns and walks quickly in thatdirection. Her HUD shows the face of a middle aged man with apossible heart problem. She starts to run as she sees the EKG tracefrom his bio-mon change from a irregular beat to complete failure.Personal tracking shows that a crash team is in route, but need 4minutes to get there. She finds him in seconds and provides CPRuntil the team arrives and the paddles are hot. It takes three shots,but his heart restarts and drugs are given to stabilize him. Thedatabase system has noted the use of these drugs dropped theinventory to a re-supply trigger, so an order is uploaded automaticallyto the depot. As she is walking back to center camp, she sees ayoung boy looking lost and crying. Her head mount has a clear pic ofhis face, but can't give an ID. He's wearing a badge, so she scans itand finds he is 50 M from his home tent and he has a vision problem.A quick check of today's shipments shows some used glasses havearrived from Maryland and she takes him along to center camp tocheck them out. His vision errors were logged at his intake and shefinds glasses close to what he needs. She then guides him to hishome tent, following the route in her HUD. She flips her HUD tooverview and watches the dots of light layed on reality as she looksdown on camp from the tower mount cam. Most are green, a fewyellow, and one red, with the blue markers of a med team around thatone. Things are under control. As she heads over to the mess tent fora snack, (an inventory check showed fresh apples) she downloadssome local folk music from a MP3 web site. Listening for a while, shewonders if she can help these people remember how to dance...

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Example: Virtual Experience• Institute for

interventionalinformatics

• Developmentof human-itarian uses formilitary andentertainmenttechnologies

• AshleyHughes, 1995

http://www.pulsar.org/pk/ashley/ashley.htmlThe institute for interventional informatics emerged within themedical field from a society of individuals grounded in the physicalsciences. They began by developing innovative humanitarian usesfor technologies created under military and entertainmentparadigms. They felt that it would be possible by creating linksbetween the high tech talent and knowledge found in aerospaceand gaming, and the high touch applications of the disabled, ill, orinfirm that a new market would form that could not only drive thetechnology but also improve many qualitative aspects of society.Through a series of structured development projects, either for anindividual case over time or a discrete group event, the founders ofI3 discovered that the development of specific new technologieswould be required to succeed. Ashley Hughes is a private client ofI3. I will here present our work with her from 1993 till 1997 as aprocess so that the reader may understand the foundations andphilosophy of what is now termed Neat tools and the array oftechnologies that spawned from there into the many facetsemanating from the Pulsar project. ﾊﾊﾊﾊﾊﾊﾊﾊIn 1993 AshleyHughes is a 7-year-old C-1 quadriplegic. She is ventilatordependant and has been immobile since birth. Ashley has anexcellent family support structure. Despite her handicap she isremarkably intelligent, vocal, outgoing, and she possesses aninspiring, positive outlook on life. ﾊﾊﾊﾊﾊﾊﾊﾊWorking from theneurocosmology paradigm we approached Ashley with the intentto improve her expressional output and thus allow her tomanipulate her environment and interact with the world in moredirect ways. To be more specific, Ashley's disability limits her PHX-PHI interaction to speech, which is ventilator dependant, and ahead mounted pointing stick, which has speed and rangelimitations. Her PSI-KHI throughput rate with some assistance isabout one command on keyboard or mouse every 3 seconds witha vocabulary of roughly 20 commands. The range limitations of herstick make it impossible to reach some keyboard keys, which aremore important than some of those she can reach. The speed ofher interface precludes her from participating in interactiveentertainment programs that are so popular with her peers andleaves her under-stimulated due to the paucity of her cyberneticloop.

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Subjective Measures• Self-reported sense of presence• Post-immersion questionnaire• Hard to calibrate among people

Not Compelling

ModeratelyCompelling

VeryCompelling

How compelling was your sense of moving around inside the environment?

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Advantages/Disadvantages

• Appear to measure what they say theymeasure

• Easy to use and score• Only measure what participant remembers• What about multiple responses at

different times• Inconsistent responses

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Behavioral Measures

• Measure automatically produced responses.• Observe behavioral responses that would

reasonably correlate with improved presence.

http://www.etc.cmu.edu/projects/bvw.htmlBuilding Virtual Worlds ProjectsBuilding Virtual Worlds (BVW)is a project course, where interdisciplinary teams builddesktop and immersive (helmet-based) interactive virtualworlds. The goal of the course is to take students withvarying talents, backgrounds, and perspectives and putthem together to do what they couldn't do alone. The keything is that there are no "idea people" in the course;everyone must share in the mechanical creation of theworlds. Note that we don't try to teach artists to program,or engineers to paint; we form teams where everyonedoes what they're already skilled at to attack a jointproject.

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Advantages/Disadvantages

• Less biased bysubjectiveresponses

• Non-intrusiveduring experience

• Open to subjectivegrading andsometimes youjust don’t knowwhat it means.

What is the chimp doing? How did the chimp learn to do this?

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Physiological Measures

• Change in Heart Rate– Stress, fear, emotion, exertion increase

HR• Change in Skin Conductance

– Increase sweat when stressed• Change of Skin Temperature at

extremities– Reduced when stressed

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Check your heart rate

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Advantages/Disadvantages• Objective• Continuous• Sensors fade into the

background• You don’t necessarily

know what responseyou’re measuring

• The expectation of thesubject can screw theresults

human robot interaction - ryerson · pdf fileprocess so that the reader may understand ......

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