Communication and gaze behavior in a dyadic collaborative task
Summary
Humans and robots continue to share an increasing number of spaces, which calls for safe and
intuitive interfaces of these robots. Humans and robots interact in numerous ways, an
important way is through collaboration. However, this part of human-robot interaction (HRI)
is still underdeveloped. This research aims to give more insight into how robots should
communicate with humans during collaboration by observing human-human interaction in a
collaborative task. Observations were made on how people communicate with each other
during a collaborative task and whether they look at their partner’s face when they do. It was
also looked at whether verbal communication has influences on task performance in a
collaborative task. An experiment was designed in which two participants were asked to work
together to recreate a Duplo figure while their gaze behavior was being tracked using the
Tobii Pro Glasses 2. Four conditions were used, two in which the figure was either completely
visible for both participants or partly hidden by other blocks, and two in which the
participants were allowed or not allowed to verbally communicate with each other. Results
show that very few the gaze fixations were on the partner’s face. Participants verbally
communicated a lot more during the obstructed conditions, and most of the utterances were
comments, reactions and questions. The times that the partner’s face was fixated on were not
necessarily during communication, but the partner’s face was looked at more often during
nonverbal than verbal communication. No significant effect for verbal communication on task
performance could be found. Based on these results, robots should not necessarily look at
their human partner often. When they do, it could be for nonverbal communication. Verbal
communication should be informative of nature, to keep the equal collaboration roles.
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