Adaptive Systems Research Group, University of Hertfordshire Investigating Psychological and Biological Processes for Human-Robot Interaction (HRI-BioPsy) Frank Förster Kerstin Dautenhahn Chrystopher Nehaniv Adaptive Systems Research Group, University of Hertfordshire

Overview Motivation: What makes human-robot interaction work HRI-BioPsy Overview Motivation: What makes human-robot interaction work Motor resonance and its indices Proposed factors impacting on motor resonance Forthcoming experiment http://hri-biopsy.herts.ac.uk

Motivation [ Video negation experiments] HRI-BioPsy Motivation [ Video negation experiments] Motor resonance as proposed measure for (potential) quality of interaction Motor resonance  mirror neuron system Chaminade, T., & Cheng, G. (2009). Social cognitive neuroscience and humanoid robotics. Journal of Physiology-Paris, 103(3), 286-295 “The underlying assumption is that the measure of resonance indicates the extent to which an artificial agent is considered as a social inter-actor.” [Chaminade & Cheng (2009)]

Proposed indices of motor resonance HRI-BioPsy Proposed indices of motor resonance Motor Interference: Deviation of physical trajectory under observation of orthogonal movements Motor Contagion: Adaptation of velocity profiles under observation of congruent movements Motor Priming: Increased / decreased time of onset after observation of incongruent / congruent movements http://hri-biopsy.herts.ac.uk

Index 1: Motor Interference HRI-BioPsy Index 1: Motor Interference [Video motor interference] Measure: Deviation of one-dimensional movement trajectory when observing incongruent movement Experiment: Actors move simultaneously [ Kilner et al. (2003), Shen et al. (2011), Shen et al. (2015) ] Kilner, J. M., Paulignan, Y., Blakemore, S.J. (2003). An interference effect of observed biological movement on action. Current Biology, 13(6), 522-525. Shen, Q., Kose-Bagci, H., Saunders, J., Dautenhahn, K. (2011). The Impact of Participants’ Beliefs on Motor Interference and Motor Coordination in Human-Humanoid Interaction IEEE Transactions on Autonomous Mental Development, 3(1), 6-16. Shen, Q., Dautenhahn, K., Saunders, J., Kose, H. (2015). Can Real-Time, Adaptive Human-Robot Motor Coordination Improve Humans’ Overall Perception of a Robot?. IEEE Transactions on Autonomous Mental Development, 7(1), 52-64.

Index 2: Motor Contagion HRI-BioPsy Index 2: Motor Contagion Measure: Temporal adaptation of velocity profile towards the velocity profile of an observed congruent movement Experiment: Actors move simultaneously [ Bisio et al. (2014) ] Bisio, A., Sciutti, A., Nori, F., Metta, G., Fadiga, L., Sandini, G. & Pozzo, T. (2014). Motor contagion during human-human and human-robot interaction. PLoS ONE 9(8): e106172. http://hri-biopsy.herts.ac.uk

HRI-BioPsy Index 3: Motor Priming Measure: Increase or decrease in time of onset of action after observing congruent / incongruent movement Experiment: Stimulus and participants’ movement are sequential Time differences of ~ 30 ms [ Press et al. (2005) ] Press, C., Bird, G, Flach, R., & Heyes, C. (2005). Robotic movement elicits automatic imitation. Cognitive Brain Research, 25(3), 632-640 http://hri-biopsy.herts.ac.uk

Factors impacting upon motor resonance Top-down vs. bottom-up factors Bottom-up (biological): velocity profile of movements Visual properties of stimulus (biologically vs. mechanically looking) Top-down (psychological): Primes Attitude, Expectations Partner model http://hri-biopsy.herts.ac.uk

Experiment 1 (forthcoming) (I) Aim 1: Measuring 2 indices simultaneously for correlation Motor interference + motor contagion Aim 2: Evaluation of suitability of these indices for turn-based / sequential interaction Platform used: iCub humanoid Methodology: 2 groups primed group (“robot is watching”) ‘non-primed’ (“robot is not watching”) http://hri-biopsy.herts.ac.uk

Experiment 1 (forthcoming) (II) Methodology: 4 experimental conditions for each group, based on all 4 combinations of: Simultaneous vs. turn-based / sequential interaction Congruent vs. incongruent movements Attempt to move towards more realistic interaction by use of transitive movement (moving an object from A to B). No use of overtly social feedback / behavior on part of the robot in order to avoid additional variable http://hri-biopsy.herts.ac.uk

Thank you! Questions? HRI-BioPsy Additional support was provided from Univ. Hertfordshire to upgrade iCub lab. http://hri-biopsy.herts.ac.uk