Title

GENERATION AND ANALYSIS OF "BREATHING" AS A HRI BEHAVIOR ON A COBOT

Abstract

Abstract

In this thesis, we analyzed how the breathing of a collaborative robot, a.k.a cobot, as human-robot interaction (HRI) behavior affects a collaborative task. Cobots are industrial robotic manipulators that have no capabilities of social HRI or norms of breathing. Nevertheless, we implemented breathing for a cobot as a social behavior inspired by secondary action, which is an animation principle, with its waveform borrowed from human breathing, and the amplitude and frequency of it are parametrized as animation principles: exaggeration and timing.

We conducted a user study to measure the effect of the implemented parameters on a collaborative task. During the study, we collected the task completion time to estimate the task performance and velocities and accelerations of the hand of subjects to estimate the task quality. We also measured HRI quality by using the Godspeed questionnaire. The analysis of collected data showed that a frequency similar to a human’s breathing positively impacts the task performance by decreasing the completion time significantly; however, it does not significantly affect other metrics. Besides, changing the amplitude of the breathing does not affect any metrics.

Supervisor(s)

Supervisor(s)

ALI NURI GUNESDOGDU

Date and Location

Date and Location

2022-08-31 15:00:00

Category

Category

MSc_Thesis