IUI09-multitouch - Multi-touch Interaction for Robot...

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1 Multi-touch Interaction for Robot Control Mark Micire 1 , Jill L. Drury 2 , Brenden Keyes 2 , and Holly A. Yanco 1 1 University of Massachusetts Lowell 1 University Avenue, Lowell, MA 01854 USA {mmicire, [email protected] 2 The MITRE Corporation 202 Burlington Road, Bedford, MA 01730 USA {jldrury, [email protected] ABSTRACT Recent developments in multi-touch technologies have exposed fertile ground for research in enriched human- robot interaction. Although multi-touch technologies have been used for virtual 3D applications, to the authors' knowledge, ours is the first study to explore the use of a multi-touch table with a physical robot agent. This baseline study explores the control of a single agent with a multi- touch table using an adapted, previously studied, joystick- based interface. We performed a detailed analysis of users’ interaction styles with two complex functions of the multi- touch interface and isolated mismatches between user expectations and interaction functionality. Author Keywords Human-robot interaction, multi-touch interaction, interaction styles. ACM Classification Keywords H5.2. Information systems, information interfaces and presentation: User interfaces. INTRODUCTION There is much excitement surrounding multi-touch tables and displays (e.g., Dietz, 2001; Han, 2005) because of the potential for enhanced interactivity. Removing the joystick, mouse, or keyboard can remove a layer of interface abstraction and increase the degree of direct manipulation (Shneiderman, 1983). In the case of human-robot interaction, this technology should allow users more direct interaction with the robot to influence its behavior. A joystick interface limits the user to a relatively small set of interaction possibilities. Digital buttons, analog gimbals, and analog sliders are the three common input modes. The multi-touch surface is quite different, allowing for almost limitless interaction methods on a 2D plane. Where the joystick limits the user through mechanical and physical constraints, the multi-touch surface serves as the blank canvas on which control surfaces are dynamically created. But the flexibility and freedom of the interface also presents problems for designers. Designers must carefully choose control methods that give appropriate feedback and extremely clear affordances (affordances mean that perceived and actual functionality match; see Norman, 1988). Users are accustomed to haptic feedback, such as spring-loaded buttons and gimbals, and auditory feedback, such as clicks, even from a non-force-feedback joystick controller: feedback not provided by multi-touch surfaces. While multi-touch table technology seems to offer promise for human-robot interaction, we could not find any previous work that characterized human performance when directing physical agents (robots) via multi-touch table interaction. We wanted to understand how to best take advantage of the
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This note was uploaded on 02/13/2012 for the course CS 91.550 taught by Professor Yanco during the Spring '11 term at UMass Lowell.

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IUI09-multitouch - Multi-touch Interaction for Robot...

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