Exploring Intended Functions of Indoor Flying Robots Interacting With Humans in Proximity

WANG, Ziming; Wu, Yiqian; Yang, Shiwei; CHEN, Xiaowei; Rohles, Björn; Fjeld, Morten

doi:10.1145/3613904.3642791

Download

Paper published in a book (Scientific congresses, symposiums and conference proceedings)

Exploring Intended Functions of Indoor Flying Robots Interacting With Humans in Proximity

WANG, Ziming; Wu, Yiqian; Yang, Shiwei et al.

2024 • In CHI 2024 - Proceedings of the 2024 CHI Conference on Human Factors in Computing Sytems

Peer reviewed

Permalink
https://hdl.handle.net/10993/61392

DOI
10.1145/3613904.3642791

Files (1)Send to Details Statistics Bibliography Similar publications

Files

Full Text

chi24a-sub4321-cam-i16.pdf

Author postprint (1.6 MB)

Download

All documents in ORBilu are protected by a user license.

Send to

RIS BibTex APA Chicago Permalink X Linkedin

Details

Keywords :

artificial intelligence (AI); drone function; human-drone interaction (HDI); Indoor drone; proxemics; user experience (UX); Artificial intelligence; Drone function; Flying robots; Home environment; Human-drone interaction; Mixed method; Proxemic; User experience (UX); Users' experiences; Human-Computer Interaction; Computer Graphics and Computer-Aided Design; Software

Abstract :

[en] What will people experience when drones become common in home environments? How will their functions and distances impact human experiences? To explore the potential usage of indoor drones, we conducted a mixed-methods study (N=60) on the reported perceptions of a small flying robot. We employed a factorial experimental design, involving four intended drone functions (camera, education, pet, unknown) at two distances (near, far). Our findings suggest that intended functions significantly influence participants' perceptions. Among the functions examined, participants found the camera useful but annoying, and the pet useless but pleasant. The education emerged as the most favored function, while the unknown function was the least preferred one. Based on these findings, we discuss implications for designing positive interactions between humans and indoor drones, considering aspects such as context, transparency, privacy, technical factors, and personalization.

Disciplines :

Computer science

Author, co-author :

WANG, Ziming ; University of Luxembourg

Wu, Yiqian ; Chalmers University of Technology, Gothenburg, Sweden

Yang, Shiwei ; University of Gothenburg, Gothenburg, Sweden

CHEN, Xiaowei ; University of Luxembourg > Faculty of Humanities, Education and Social Sciences (FHSE) > Department of Behavioural and Cognitive Sciences (DBCS) > Cognitive Science and Assessment

Rohles, Björn ; Digital Learning Hub, Ministère de l'Éducation Nationale, de l'Enfance et de la Jeunesse, Formation des adultes Esch-sur-Alzette, Luxembourg

Fjeld, Morten ; Chalmers University of Technology Gothenburg, Sweden University of Bergen, Bergen, Norway

External co-authors :

yes

Language :

English

Title :

Exploring Intended Functions of Indoor Flying Robots Interacting With Humans in Proximity

Publication date :

11 May 2024

Event name :

Proceedings of the CHI Conference on Human Factors in Computing Systems

Event place :

Hybrid, Honolulu, Usa

Event date :

11-05-2024 => 16-05-2024

Main work title :

CHI 2024 - Proceedings of the 2024 CHI Conference on Human Factors in Computing Sytems

Publisher :

Association for Computing Machinery

ISBN/EAN :

9798400703300

Peer reviewed :

Peer reviewed

Additional URL :

https://dl.acm.org/doi/pdf/10.1145/3613904.3642791

Funders :

The Marianne and Marcus Wallenberg Foundation

Funding text :

Participant compensation and experiment running costs were covered by the Experimental Psychology Laboratories Network (EPSYLON) at the University of Luxembourg. We acknowledge the Wallenberg AI, Autonomous Systems and Software Program - Humanities and Society (WASP-HS). This research is primarily funded by the Marianne and Marcus Wallenberg Foundation.

Available on ORBilu :

since 17 June 2024

Statistics

Number of views

94 (2 by Unilu)

Number of downloads

59 (0 by Unilu)

More statistics

Scopus citations^®

Scopus citations^®
without self-citations

OpenAlex citations

Bibliography

Parastoo Abtahi, David Y. Zhao, Jane L. E., and James A. Landay. 2017. Drone near me. Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 1, 3 (2017), 1-8. https://doi.org/10.1145/3130899
Ainhoa Apraiz, Ganix Lasa, and Maitane Mazmela. 2023. Evaluation of User Experience in Human-Robot Interaction: A Systematic Literature Review. International Journal of Social Robotics 15, 2 (2023), 187-210.
Mauro Avila Soto and Markus Funk. 2018. Look, a guidance drone! Assessing the Social Acceptability of Companion Drones for Blind Travelers in Public Spaces. In Proceedings of the 20th International ACM SIGACCESS Conference on Computers and Accessibility. ACM, Galway Ireland, 417-419. https://doi.org/10.1145/3234695.3241019
Christoph Bartneck, Dana Kulić, Elizabeth Croft, and Susana Zoghbi. 2009. Measurement instruments for the anthropomorphism, animacy, likeability, perceived intelligence, and perceived safety of robots. International journal of social robotics 1 (2009), 71-81.
Mehmet Aydin Baytas, Damla Çay, Yuchong Zhang, Mohammad Obaid, Asim Evren Yantaç, and Morten Fjeld. 2019. The Design of Social Drones: A Review of Studies on Autonomous Flyers in Inhabited Environments. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems (Glasgow, Scotland Uk) (CHI'19). Association for Computing Machinery, New York, NY, USA, 1-13. https://doi.org/10.1145/3290605.3300480
Alisha Bevins and Brittany A. Duncan. 2021. Aerial flight paths for communication. Frontiers in Robotics and AI 8 (2021). https://doi.org/10.3389/frobt.2021. 719154
Robin Bretin, Mohamed Khamis, and Emily Cross. 2023. “Do I run away?”: Proximity, Stress and Discomfort in Human-Drone Interaction in Real and Virtual Environments. Human-Computer Interaction - INTERACT 2023 (2023), 525-551. https://doi.org/10.1007/978-3-031-42283-6_29
Jessica R. Cauchard, Jane L. E, Kevin Y. Zhai, and James A. Landay. 2015. Drone & me: an exploration into natural human-drone interaction. In Proceedings of the 2015 ACM International Joint Conference on Pervasive and Ubiquitous Computing. ACM, Osaka Japan, 361-365. https://doi.org/10.1145/2750858.2805823
Linfeng Chen, Kazuki Takashima, Kazuyuki Fujita, and Yoshifumi Kitamura. 2021. PinpointFly: An Egocentric Position-Control Drone Interface Using Mobile AR. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems (Yokohama, Japan) (CHI'21). Association for Computing Machinery, New York, NY, USA, Article 150, 13 pages. https://doi.org/10.1145/3411764.3445110
Victoria Clarke, Virginia Braun, and Nikki Hayfield. 2015. Thematic analysis. Qualitative psychology: A practical guide to research methods 3 (2015), 222-248.
Crazyflie 2022. Bitcraze. Retrieved Sep 3, 2023 from https://www.bitcraze.io/about/bitcraze
Maartje M.A. de Graaf and Somaya Ben Allouch. 2013. Exploring influencing variables for the acceptance of social robots. Robotics and Autonomous Systems 61, 12 (2013), 1476-1486. https://doi.org/10.1016/j.robot.2013.07.007
Maartje MA de Graaf, Somaya Ben Allouch, and Jan AGM Van Dijk. 2019. Why would I use this in my home? A model of domestic social robot acceptance. Human-Computer Interaction 34, 2 (2019), 115-173.
Dildoeverything. 2016. Dildo Drone. https://www.youtube.com/watch?v= pZCVG7zUaRA Accessed: 2023-09-12.
Jane L. E, Ilene L. E, James A. Landay, and Jessica R. Cauchard. 2017. Drone & Wo: Cultural Influences on Human-Drone Interaction Techniques. Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems (2017). https://doi.org/10.1145/3025453.3025755
Lisa A. Elkin, Matthew Kay, James J. Higgins, and Jacob O. Wobbrock. 2021. An Aligned Rank Transform Procedure for Multifactor Contrast Tests. In The 34th Annual ACM Symposium on User Interface Software and Technology (Virtual Event, USA) (UIST'21). Association for Computing Machinery, New York, NY, USA, 754-768. https://doi.org/10.1145/3472749.3474784
European Parliament and Council of the European Union. [n. d.]. The General Data Protection Regulation (EU 2016/679, "GDPR"). https://data.europa.eu/eli/reg/2016/679/oj
FIXAR. 2022. https://fixar.pro/products/fixar-indoor/ Accessed on: 2023-09-01.
Flyability. 2023. https://www.flyability.com/elios-2 Accessed on: 2023-09-01.
Tino Fuhrman, David Schneider, Felix Altenberg, Tung Nguyen, Simon Blasen, Stefan Constantin, and Alex Waibe. 2019. An interactive indoor drone assistant. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2019). https://doi.org/10.1109/iros40897.2019.8967587
Eyal Ginosar and Jessica R. Cauchard. 2023. At First Light: Expressive Lights in Support of Drone-Initiated Communication. In Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems (Hamburg, Germany) (CHI'23). Association for Computing Machinery, New York, NY, USA, Article 641, 17 pages. https://doi.org/10.1145/3544548.3581062
Antonio Gomes, Calvin Rubens, Sean Braley, and Roel Vertegaal. 2016. BitDrones: Towards Using 3D Nanocopter Displays as Interactive Self-Levitating Programmable Matter. In Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems. ACM, San Jose California USA, 770-780. https://doi.org/10.1145/2858036.2858519
Saul Greenberg, Nicolai Marquardt, Till Ballendat, Rob Diaz-Marino, and Miaosen Wang. 2011. Proxemic interactions: The New Ubicomp? Interactions 18, 1 (2011), 42-50. https://doi.org/10.1145/1897239.1897250
Edward T. Hall. 1990. The hidden dimension. Anchor Books.
M. Hassanalian and A. Abdelkefi. 2017. Classifications, applications, and design challenges of drones: A review. Progress in Aerospace Sciences 91 (2017), 99-131. https://doi.org/10.1016/j.paerosci.2017.04.003
Marc Hassenzahl. 2004. The Thing and I: Understanding the Relationship Between User and Product. Springer Netherlands, Dordrecht, 31-42. https://doi.org/10.1007/1-4020-2967-5_4
Viviane Herdel, Lee J. Yamin, and Jessica R. Cauchard. 2022. Above and Beyond: A Scoping Review of Domains and Applications for Human-Drone Interaction. In Proceedings of the 2022 CHI Conference on Human Factors in Computing Systems (New Orleans, LA, USA) (CHI'22). Association for Computing Machinery, New York, NY, USA, Article 463, 22 pages. https://doi.org/10.1145/3491102.3501881
Felix Huppert, Gerold Hoelzl, and Matthias Kranz. 2021. GuideCopter-A Precise Drone-Based Haptic Guidance Interface for Blind or Visually Impaired People. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems. ACM, Yokohama Japan, 1-14. https://doi.org/10.1145/3411764.3445676
Business Insider. 2021. Drone Technology: Uses and Applications. https://www.businessinsider.com/drone-technology-uses-applications?r=US&IR=T Accessed on: 2023-09-01.
Michael A. Wood Gregory Jaccard, James Becker. 1984. Pairwise multiple comparison procedures: A review. Psychological Bulletin 96, 3 (1984), 589-596. https://doi.org/10.1037/0033-2909.96.3.589
Walther Jensen, Simon Hansen, and Hendrik Knoche. 2018. Knowing You, Seeing Me: Investigating User Preferences in Drone-Human Acknowledgement. In Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems (Montreal QC, Canada) (CHI'18). Association for Computing Machinery, New York, NY, USA, 1-12. https://doi.org/10.1145/3173574.3173939
Kari Daniel Karjalainen, Anna Elisabeth Romell, Photchara Ratsamee, Asim Evren Yantac, Morten Fjeld, and Mohammad Obaid. 2017. Social drone companion for the home environment. Proceedings of the 5th International Conference on Human Agent Interaction (2017). https://doi.org/10.1145/3125739.3125774
Daniel S. Katz, Neil P. Chue Hong, Tom Clark, et al. 2021. Recognizing the value of software: a software citation guide. F1000Research 9 (2021), 1257. https://doi.org/10.12688/f1000research.26932.2 Version 2; Peer review: 2 approved.
Matthew Kay, Lincoln A. Elkin, J. J. Higgins, and Jacob O. Wobbrock. 2021. ARTool: Aligned Rank Transform for Nonparametric Factorial ANOVAs. https://doi.org/10.5281/zenodo.594511 R package version 0.11.1.
Hyun Young Kim, Bomyeong Kim, and Jinwoo Kim. 2016. The Naughty Drone: A Qualitative Research on Drone as Companion Device (IMCOM'16). Association for Computing Machinery, New York, NY, USA, Article 91, 6 pages. https://doi.org/10.1145/2857546.2857639
Udo Kuckartz and Stefan Rädiker. 2019. Analyzing qualitative data with MAXQDA. Springer.
Kim Jonghae Kwak Sang Kyu. 2021. Transparency considerations for describing statistical analyses in research. Korean J Anesthesiol 74, 6 (2021), 488-495. https://doi.org/10.4097/kja.21203
Joseph La Delfa, Mehmet Aydin Baytas, Rakesh Patibanda, Hazel Ngari, Rohit Ashok Khot, and Florian Floyd Mueller. 2020. Drone Chi: Somaesthetic Human-Drone Interaction (CHI'20). Association for Computing Machinery, New York, NY, USA, 1-13. https://doi.org/10.1145/3313831.3376786
Bettina Laugwitz, Theo Held, and Martin Schrepp. 2008. Construction and evaluation of a user experience questionnaire. In HCI and Usability for Education and Work: 4th Symposium of the Workgroup Human-Computer Interaction and Usability Engineering of the Austrian Computer Society, USAB 2008, Graz, Austria, November 20-21, 2008. Proceedings 4. Springer, 63-76.
Marc Lieser, Ulrich Schwanecke, and Jorg Berdux. 2021. Evaluating distances in tactile human-drone interaction. 2021 30th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) (2021). https://doi.org/10.1109/ro-man50785.2021.9515313
Honson Y Ling and Elin A Bjorling. 2020. Human-Machine Communication 1 (2020), 133-159. https://search.informit.org/doi/10.3316/INFORMIT. 097090745662798
Craig M. MacDonald and Michael E. Atwood. 2014. What Does It Mean for a System to Be Useful? An Exploratory Study of Usefulness. In Proceedings of the 2014 Conference on Designing Interactive Systems (Vancouver, BC, Canada) (DIS'14). Association for Computing Machinery, New York, NY, USA, 885-894. https://doi.org/10.1145/2598510.2598600
Mohammad Obaid, Wafa Johal, and Omar Mubin. 2020. Domestic Drones: Context of Use in Research Literature. In Proceedings of the 8th International Conference on Human-Agent Interaction (Virtual Event, USA) (HAI'20). Association for Computing Machinery, New York, NY, USA, 196-203. https://doi.org/10.1145/3406499.3415076
Oxford English Dictionary. 2023. function, n., sense 2.a. Oxford University Press. https://doi.org/10.1093/OED/6216337149
R R Core Team et al. 2013. R: A language and environment for statistical computing. (2013).
John T.E. Richardson. 2011. Eta squared and partial eta squared as measures of effect size in educational research. Educational Research Review 6, 2 (2011), 135-147. https://doi.org/10.1016/j.edurev.2010.12.001
Indoor Robotics. 2023. https://www.indoor-robotics.com/ Accessed on: 2023-09-01.
Calvin Rubens, Sean Braley, Antonio Gomes, Daniel Goc, Xujing Zhang, Juan Pablo Carrascal, and Roel Vertegaal. 2015. BitDrones: Towards Levitating Programmable Matter Using Interactive 3D Quadcopter Displays. In Adjunct Proceedings of the 28th Annual ACM Symposium on User Interface Software & Technology (Daegu, Kyungpook, Republic of Korea) (UIST'15 Adjunct). Association for Computing Machinery, New York, NY, USA, 57-58. https://doi.org/10.1145/2815585.2817810
S. M. Samarakoon, M. A. Muthugala, and A. G. Jayasekara. 2022. A review on Human-Robot Proxemics. Electronics 11, 16 (2022), 2490. https://doi.org/10.3390/electronics11162490
Paul Scharre. 2017. Why You Shouldn't Fear “Slaughterbots”. https://spectrum.ieee.org/why-you-shouldnt-fear-slaughterbots Accessed: 2023-09-12.
Stefan Schneegass, Florian Alt, Jürgen Scheible, and Albrecht Schmidt. 2014. Midair Displays: Concept and First Experiences with Free-Floating Pervasive Displays. In Proceedings of The International Symposium on Pervasive Displays. ACM, Copenhagen Denmark, 27-31. https://doi.org/10.1145/2611009.2611013
Megha Sharma, Dale Hildebrandt, Gem Newman, James E. Young, and Rasit Eskicioglu. 2013. Communicating affect via flight path exploring use of the Laban effort system for designing Affective Locomotion Paths. 2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (2013). https://doi.org/10.1109/hri.2013.6483602
Silverlit. 2023. http://silverlit.com/product-category/shop/category/flying-toys/ Accessed on: 2023-09-01.
Dan Solomon. 2016. The Future of All Technology Is Revealed in This Fake Ad for the Dildo Drone. https://www.fastcompany.com/3059152/the-future-of-alltechnology-is-revealed-in-this-fake-ad-for-the-dildo-drone Accessed: 2023-09-12.
Ting Sun, Shengyi Nie, Dit-Yan Yeung, and Shaojie Shen. 2017. Gesture-based piloting of an aerial robot using monocular vision. In 2017 IEEE International Conference on Robotics and Automation (ICRA). 5913-5920. https://doi.org/10.1109/ICRA.2017.7989696
Daniel Szafir, Bilge Mutlu, and Terrence Fong. 2014. Communication of intent in assistive free flyers. Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction (2014). https://doi.org/10.1145/2559636.2559672
Jianjian Technology. 2023. https://www.jjrc.com/goods/drone.html Accessed on: 2023-09-01.
Ryze Technology. 2023. https://www.ryzerobotics.com/tello Accessed on: 2023-09-01.
Dante Tezza, Sarah Garcia, and Marvin Andujar. 2020. Let's learn! an initial guide on using drones to teach stem for children. Learning and Collaboration Technologies. Human and Technology Ecosystems (2020), 530-543. https://doi.org/10.1007/978-3-030-50506-6_36
Jannik Theiß, Iannis Albert, Nicole Burkard, and Marc Herrlich. 2021. Towards Using Drones as Personal Spatial Search Assistants. In Proceedings of Mensch Und Computer 2021 (Ingolstadt, Germany) (MuC'21). Association for Computing Machinery, New York, NY, USA, 180-188. https://doi.org/10.1145/3473856.3473877
Jennifer Pattison Tuohy. 2023. Ring's always home cam won't be flying in your home until at least 2024, if then. https://www.theverge.com/2023/1/6/23541395/amazon-ring-always-home-cam-release-date-price-ces2023
Randle Aaron M Villanueva and Zhuo Job Chen. 2019. ggplot2: elegant graphics for data analysis.
Ziming Wang, Ned Barker, Yiqian Wu, and Morten Fjeld. 2023. Substituting Animals with Biohybrid Robots: Speculative Interactions with Animal-Robot Hybrids. In Companion Publication of the 2023 ACM Designing Interactive Systems Conference (Pittsburgh, PA, USA) (DIS'23 Companion). Association for Computing Machinery, New York, NY, USA, 173-178. https://doi.org/10.1145/3563703.3596641
Ziming Wang, Ziyi Hu, Yemao Man, and Morten Fjeld. 2022. A Collaborative System of Flying and Ground Robots with Universal Physical Coupling Interface (PCI), and the Potential Interactive Applications. In Extended Abstracts of the 2022 CHI Conference on Human Factors in Computing Systems (New Orleans, LA, USA) (CHI EA'22). Association for Computing Machinery, New York, NY, USA, Article 460, 7 pages. https://doi.org/10.1145/3491101.3519766
Ziming Wang, Ziyi Hu, Björn Rohles, Sara Ljungblad, Vincent Koenig, and Morten Fjeld. 2023. The Effects of Natural Sounds and Proxemic Distances on the Perception of a Noisy Domestic Flying Robot. ACM Transactions on Human-Robot Interaction 12, 4, Article 50 (dec 2023), 32 pages. https://doi.org/10.1145/3579859
Yuta Watanabe, Yuya Onishi, Kazuaki Tanaka, and Hideyuki Nakanishi. 2019. Trainability Leads to Animacy: A Case of a Toy Drone. In Proceedings of the 7th International Conference on Human-Agent Interaction. ACM, Kyoto Japan, 234-235. https://doi.org/10.1145/3349537.3352776
Stop Autonomous Weapons. 2017. Slaughterbots. https://www.youtube.com/watch?v=9CO6M2HsoIA Accessed: 2023-09-12.
Nialah Jenae Wilson-Small, David Goedicke, Kirstin Petersen, and Shiri Azenkot. 2023. A Drone Teacher: Designing Physical Human-Drone Interactions for Movement Instruction. In Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (Stockholm, Sweden) (HRI'23). Association for Computing Machinery, New York, NY, USA, 311-320. https://doi.org/10.1145/3568162. 3576985
Jacob O. Wobbrock, Leah Findlater, Darren Gergle, and James J. Higgins. 2011. The Aligned Rank Transform for Nonparametric Factorial Analyses Using Only Anova Procedures. In Proceedings of the SIGCHI Conference on Human Factors in Computing Systems (Vancouver, BC, Canada) (CHI'11). Association for Computing Machinery, New York, NY, USA, 143-146. https://doi.org/10.1145/1978942.1978963
Anna Wojciechowska, Jeremy Frey, Sarit Sass, Roy Shafir, and Jessica R. Cauchard. 2019. Collocated human-drone interaction: Methodology and approach strategy. 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (2019). https://doi.org/10.1109/hri.2019.8673127
Alexander Yeh, Photchara Ratsamee, Kiyoshi Kiyokawa, Yuki Uranishi, Tomohiro Mashita, Haruo Takemura, Morten Fjeld, and Mohammad Obaid. 2017. Exploring proxemics for human-drone interaction. Proceedings of the 5th International Conference on Human Agent Interaction (2017). https://doi.org/10.1145/3125739. 3125773
Howe Yuan Zhu, Eirene Margaret Magsino, Sanjid Mahmood Hamim, Chin-Teng Lin, and Hsiang-Ting Chen. 2021. A drone nearly hit me! A reflection on the human factors of drone collisions. Extended Abstracts of the 2021 CHI Conference on Human Factors in Computing Systems (2021). https://doi.org/10.1145/3411763. 3451614
John Zimmerman, Jodi Forlizzi, and Shelley Evenson. 2007. Research through Design as a Method for Interaction Design Research in HCI. In Proceedings of the SIGCHI Conference on Human Factors in Computing Systems (San Jose, California, USA) (CHI'07). Association for Computing Machinery, New York, NY, USA, 493-502. https://doi.org/10.1145/1240624.1240704
ETH Zurich. 2022. https://ethz.ch/en/the-eth-zurich/education/innovation/kiteaward/kite-award-2022/nominierte-projekte-kite-award-2022/hands-onquadcopter.html Accessed on: 2023-09-01.