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Human Preferences for Robot Eye Gaze in Human-to-Robot Handovers.

Tair Faibish1, Alap Kshirsagar1,2, Guy Hoffman2

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Humans prefer robots using a "Face-Hand-Face" eye gaze during object handovers. This specific robot gaze behavior makes interactions more likable and communicative, regardless of object or human factors.

Keywords:
Human-human-handoversHuman-robot handoversHuman-robot interactionNon-verbal communicationRobot eye gaze

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Area of Science:

  • Human-Robot Interaction
  • Robotics
  • Human-Computer Interaction

Background:

  • Human-to-robot handovers are crucial for seamless human-robot collaboration.
  • Previous research on robot gaze during handovers primarily focused on the initial 'reach' phase.
  • Understanding human preferences for robot gaze across all handover phases is essential for intuitive interaction design.

Purpose of the Study:

  • To investigate human preferences for robot eye gaze behavior during all three phases of a handover: reach, transfer, and retreat.
  • To determine if object characteristics (size, fragility) or human posture influence preferences for robot gaze.
  • To compare human-human handover gaze patterns with robot-executed gaze behaviors.

Main Methods:

  • Analyzed a public dataset of human-human handovers to identify common receiver gaze patterns.
  • Programmed a collaborative robot to replicate observed human gaze behaviors ('Face-Hand-Face').
  • Conducted two user studies (video-based and in-person) with 72 participants each to evaluate robot gaze during handovers.

Main Results:

  • The 'Face-Hand-Face' gaze strategy (face-hand-face) was consistently preferred by both observers and participants.
  • Handovers with the 'Face-Hand-Face' gaze were perceived as more likable, anthropomorphic, and better at communicating timing.
  • No significant effect was found for object size, object fragility, or human posture on gaze preference.

Conclusions:

  • The 'Face-Hand-Face' gaze pattern is a key factor in enhancing human perception of robot handover interactions.
  • Robot gaze behavior significantly impacts the likability and perceived communicativeness of human-robot handovers.
  • Future robot design should incorporate nuanced gaze strategies across all handover phases to improve user experience.