RESUMO
Facing human activity-aware navigation with a cognitive architecture raises several difficulties integrating the components and orchestrating behaviors and skills to perform social tasks. In a real-world scenario, the navigation system should not only consider individuals like obstacles. It is necessary to offer particular and dynamic people representation to enhance the HRI experience. The robot's behaviors must be modified by humans, directly or indirectly. In this paper, we integrate our human representation framework in a cognitive architecture to allow that people who interact with the robot could modify its behavior, not only with the interaction but also with their culture or the social context. The human representation framework represents and distributes the proxemic zones' information in a standard way, through a cost map. We have evaluated the influence of the decision-making system in human-aware navigation and how a local planner may be decisive in this navigation. The material developed during this research can be found in a public repository (https://github.com/IntelligentRoboticsLabs/social_navigation2_WAF) and instructions to facilitate the reproducibility of the results.
RESUMO
The use of humanoid robots within a therapeutic role, that is, helping individuals with social disorders, is an emerging field, but it remains unexplored in terms of concentration training. To seamlessly integrate humanoid robots into concentration games, an investigation into the impacts of human robot interactive proxemics on concentration-training games is particularly important. In the case of an epidemic diffusion especially-for example, during the COVID-19 pandemic-HRI games may help in the therapeutic phase, significantly reducing the risk of contagion. In this paper, concentration games were designed by action imitation involving 120 participants to verify the hypothesis. Action-imitation accuracy, the assessment of emotional expression, and a questionnaire were compared with analysis of variance (ANOVA). Experimental results showed that a 2 m distance and left-front orientation for a human and a robot are optimal for human robot interactive concentration training. In addition, females worked better than males did in HRI imitation games. This work supports some valuable suggestions for the development of HRI concentration-training technology, involving the designs of friendlier and more useful robots, and HRI game scenarios.
RESUMO
Nowadays, mobile robots are playing an important role in different areas of science, industry, academia and even in everyday life. In this sense, their abilities and behaviours become increasingly complex. In particular, in indoor environments, such as hospitals, schools, banks and museums, where the robot coincides with people and other robots, its movement and navigation must be programmed and adapted to robot-robot and human-robot interactions. However, existing approaches are focused either on multi-robot navigation (robot-robot interaction) or social navigation with human presence (human-robot interaction), neglecting the integration of both approaches. Proxemic interaction is recently being used in this domain of research, to improve Human-Robot Interaction (HRI). In this context, we propose an autonomous navigation approach for mobile robots in indoor environments, based on the principles of proxemic theory, integrated with classical navigation algorithms, such as ORCA, Social Momentum, and A*. With this novel approach, the mobile robot adapts its behaviour, by analysing the proximity of people to each other, with respect to it, and with respect to other robots to decide and plan its respective navigation, while showing acceptable social behaviours in presence of humans. We describe our proposed approach and show how proxemics and the classical navigation algorithms are combined to provide an effective navigation, while respecting social human distances. To show the suitability of our approach, we simulate several situations of coexistence of robots and humans, demonstrating an effective social navigation.
RESUMO
Introducción: El conflicto de proximidad y distancia en enfermos con trastornos crónicos de la piel ha sido descripto recientemente por destacados autores. Objetivo: evaluar el conflicto de proximidad y distancia en una muestra de pacientes con psoriasis. Método: Se administró el test de las distancias afectivas a una muestra de 96 personas con psoriasis y se estudiaron las respuestas niño-madre, paciente-doctor y usted-enemigo. Resultados: Mientras que en algunos pacientes se observa una adherencia extraordinaria a la persona del médico, en otros se encuentra una tendencia a desprenderse bruscamente o a deambular de médico en médico. Estas conductas podrían ser expresión de mecanismos de defensa inconscientes que surgen en respuesta a experiencias de la infancia. Conclusión: el conflicto de proximidad - distancia estaría vinculado a la relación con una madre fría o atrapante y determinaría conductas que se manifiestan en la relación médico paciente y en la actitud hacia la enfermedad.
Introduction: The inner proximity-distance conflict in patients with chronic skin diseases has been recently described by leading authors. Objective: to evaluate the proximity-distance conflict in a sample of psoriasis patients. Methods: Affective Distance test was applied in order to evaluate the characteristics of the child mother bond in 96 persons with psoriasis. Results: While an extraordinary adhesion to the physician is observed in some patients, in others, an abrupt detachment tendency, or wandering from doctor to doctor are found. As Psychoanalysts we think these behaviours as expressions of unconscious fantasies and defence mechanisms that arise in response to childhood's vital experiences. Conclusion: The proximity-distance conflict would be related in most cases to a cold mother experience, or a compelling mother, and that experience would determine behaviour that then would be manifested in the doctor-patient relationship and in the way the patient copes with his/ her illness.
