Fast Handovers with a Robot Character: Small Sensorimotor Delays Improve Perceived Qualities

摘要: We present a system for fast and robust handovers with robot character, together user study investigating the effect of speed reaction time on perceived interaction quality. The can match exceed human speeds confirms that users prefer human-level timing.The has appearance bear-like head soft anthropomorphic hand uses Bezier curves to achieve smooth minimum-jerk motions. Fast timing is enabled by low latency motion capture real-time trajectory generation: initially moves towards an expected handover location updated on-the-fly converge smoothly actual location. A hybrid automaton provides robustness failure unexpected actions.In 3x3 study, we vary add variable sensorimotor delays. evaluate social perception using Robot Social Attribute Scale (RoSAS). Inclusion small delay, mimicking delay system, leads improvement in qualities over both no long conditions. Specifically, as more discomforting, it less warm.