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WTEC Panel Report on HUMAN-ROBOT INTERACTION JAPAN, SOUTH KOREA, AND CHINA Manuela Veloso (Chair) Mindy Aisen Ayanna Howard Chad Jenkins Bilge Mutlu Brian Scassellati World Technology Evaluation Center, Inc. 4600 N. Fairfax Dr. #104 Arlington, VA 22203 WTEC PANEL ON HUMAN-ROBOT INTERACTION Sponsored by the U.S. National Science Foundation (NSF). Manuela Veloso, Ph.D. (Chair) Chad Jenkins, Ph.D. Computer Science Department Department of Computer Science Carnegie Mellon University Brown University, Box 1910 Gates Hillman Center 7002 115 Waterman St., 4th Floor Pittsburgh PA 15213-3890 Providence, RI 02912-1910 Mindy Aisen, M.D. Bilge Mutlu, Ph.D. Rancho Los Amigos National Rehabilitation Center Department of Computer Sciences 7601 East Imperial Highway University of Wisconsin–Madison Downey, CA 90242 1210 W. Dayton St. Room 6381 Madison, WI 53706-1685 Ayanna Howard, Ph.D. Brian Scassellati, Ph.D. Van Leer Electrical Engineering Building Department of Computer Science Georgia Institute of Technology Yale University 777 Atlantic Drive NW, TSRB 444 51 Prospect Street Atlanta, GA 30332-0250 New Haven, CT 06520-8285 Sponsor Representative with WTEC Panel Ted A. Conway, Ph.D. Division of Chemical, Bioengineering, Environmental and Transport Systems National Science Foundation 4201 Wilson Boulevard Arlington, VA 22230 WTEC Mission WTEC provides assessments of international research and development in selected technologies under awards from the National Science Foundation (NSF), the Office of Naval Research (ONR), and other agencies. Formerly part of Loyola College, WTEC is now a separate nonprofit research institute. The Deputy Assistant Director for Engineering is NSF Program Director for WTEC. Sponsors interested in international technology assessments and related studies can provide support for the program through NSF or directly through separate grants or GSA task orders to WTEC. WTEC’s mission is to inform U.S. scientists, engineers, and policymakers of global trends in science and technology. WTEC assessments cover basic research, advanced development, and applications. Panels of typically six technical experts conduct WTEC assessments. Panelists are leading authorities in their field, technically active, and knowledgeable about U.S. and foreign research programs. As part of the assessment process, panels visit and carry out extensive discussions with foreign scientists and engineers in their labs. The WTEC staff helps select topics, recruits expert panelists, arranges study visits to foreign laboratories, organizes workshop presentations, and finally, edits and publishes the final reports. Dr. R.D. Shelton, President, is the WTEC point of contact: telephone 410-467-9832 or email [email protected]. WTEC Panel Report on HUMAN-ROBOT INTERACTION JAPAN, SOUTH KOREA, AND CHINA May 2012 Manuela Veloso (Chair) Mindy Aisen Ayanna Howard Chad Jenkins Bilge Mutlu Brian Scassellati This document was sponsored by the National Science Foundation (NSF) and other agencies of the U.S. Government under an NSF cooperative agreement (ENG 0844639) with the World Technology Evaluation Center (WTEC). The Government has certain rights in this material. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the United States Government, the authors’ parent institutions, or WTEC. WORLD TECHNOLOGY EVALUATION CENTER, INC. (WTEC) R.D. Shelton, President Michael DeHaemer, Executive Vice President Geoffrey M. Holdridge, Vice President for Government Services Frank Huband, Senior Vice President and General Counsel Patricia Foland, Vice President for Operations David Nelson, Vice President for Development Haydon Rochester, Jr., Report Editor David Kahaner, Advance Contractor ABSTRACT Human-robot interaction (HRI) focuses on the study of functionality and usability of robots when performing tasks that involve humans. There are an increasingly large number of HRI researchers in the United States, leading to an emergence of targeted funding opportunities. In order to better understand the scope of the research pursued by HRI researchers outside the United States, NSF and WTEC tasked a study of HRI research in Asian countries. This report compiles the findings of a panel of experts who conducted a series of site visits in Japan, South Korea, and China. Based on the limited time for travel and availability of the hosting institutions, this report should be viewed as a representative sample of HRI research in the countries visited. The report is organized in six chapters and four appendices. Chapter 1 introduces the goals of the study, the panelists, and the process and draws some general conclusions. Chapter 2 focuses on HRI in health care applications. Chapter 3 discusses the approaches followed in human cognitive modeling as used by different research programs. Chapter 4 concretely addresses the wide area of service robotics, surveying the applications in which robots provide services to humans in daily life environments. Chapter 5 presents the modeling and use of social interactions in robot behaviors. Chapter 6 concludes the report with a comprehensive presentation of the underlying technical and scientific components of the HRI systems described in the study. Each chapter draws conclusions on the research methodology, funding models, and relationships with education and industry. The panel ultimately felt that the research in the visited countries was of an equivalent technical level with the research carried out in the United States, possibly with more emphasis on product development and targeted applications. We further felt that it could be interesting to create more long-term funding in the United States. Furthermore, this report may be able to provide information for international collaborations, which we learned would be very appreciated and welcome. ACKNOWLEDGMENTS We at WTEC wish to thank all the panelists for their valuable insights and their dedicated work in conducting this international study of human-robot interaction (HRI) research and development, and to thank all the site visit hosts for so generously sharing their time, expertise, and facilities with us. For their sponsorship of this important study, our sincere thanks goes to the National Science Foundation. R.D. Shelton, President, WTEC Copyright 2012 by WTEC. The U.S. Government retains a nonexclusive and nontransferable license to exercise all exclusive rights provided by copyright. A list of available WTEC reports and information on obtaining them is on the inside back cover of this report. Table of Contents Introduction ...................................................................................................................................... 1 Background ........................................................................................................................................... 1 Process and Team Formation ................................................................................................................ 1 Objectives and Questions ...................................................................................................................... 3 Sites Visited ........................................................................................................................................... 5 Summary and Reader’s Guide ............................................................................................................... 9 Robotics in Health Care: Human-Robotics Interface ................................................................. 13 Introduction ......................................................................................................................................... 13 Robotic Assistance For Seniors and Persons with Disability .............................................................. 13 Cognitive Modeling ........................................................................................................................ 21 Introduction ......................................................................................................................................... 21 Taxonomy of Approaches to Cognitive Modeling .............................................................................. 21 Consumer Approaches: Data-driven Methods ..................................................................................... 22 Consumer Approaches: Model-driven Methods .................................................................................. 24 Collaborative Approaches: Developmental Modeling ........................................................................ 25 Collaborative Approaches: User Studies ............................................................................................. 27 ConclusionS ......................................................................................................................................... 29 Indoor Service Robotics in HRI .................................................................................................... 31 Introduction ......................................................................................................................................... 31 Service Robots in Entertainment ......................................................................................................... 31 Service Robots in Education...............................................................................................................
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