Evaluating Human-in-the-Loop Assistive Feeding Robots Under Different Levels of Autonomy with VR Simulation and Physiological Sensors

Tong Xu; Tianlin Zhao; Jesus G. Cruz-Garza; Tapomayukh Bhattacharjee; Saleh Kalantari

doi:10.1007/978-3-031-24670-8_28

Evaluating Human-in-the-Loop Assistive Feeding Robots Under Different Levels of Autonomy with VR Simulation and Physiological Sensors

Tong Xu, Tianlin Zhao, Jesus G. Cruz-Garza, Tapomayukh Bhattacharjee, Saleh Kalantari

Houston Methodist

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Feeding assistance is one of the most fundamental and time-consuming activities of daily living. In this study, we designed, implemented, and tested a system for virtual response testing of a human-in-the-loop assistive feeding robot with physiological measurements. The study focused on how different levels of autonomy (fully autonomous vs. partial autonomous) in feeding robots affected user experience. In a within-subject experiment with randomized order, we found statistically significant differences in Duration, Usability, Workload, and Success rate between Autonomy Modes. The results from EEG measures were consistent with the self-reported results in evaluating the Usability and Workload. Our findings support the potential of VR simulation and biometric sensors as an effective way to evaluate user interactions with an assistive robot, and suggest users’ preference to collaborate with the robot.

Original language	English (US)
Title of host publication	Social Robotics - 14th International Conference, ICSR 2022, Proceedings
Editors	Filippo Cavallo, John-John Cabibihan, Laura Fiorini, Alessandra Sorrentino, Hongsheng He, Xiaorui Liu, Yoshio Matsumoto, Shuzhi Sam Ge
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	314-327
Number of pages	14
ISBN (Print)	9783031246692
DOIs	https://doi.org/10.1007/978-3-031-24670-8_28
State	Published - 2022
Event	14th International Conference on Social Robotics, ICSR 2022 - Florence, Italy Duration: Dec 13 2022 → Dec 16 2022

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	13818 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	14th International Conference on Social Robotics, ICSR 2022
Country/Territory	Italy
City	Florence
Period	12/13/22 → 12/16/22

Keywords

Electroencephalogram (EEG)
Human-robot collaboration
Human-robot interaction
Robot autonomy
Virtual reality

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-031-24670-8_28

Cite this

Xu, T., Zhao, T., Cruz-Garza, J. G., Bhattacharjee, T., & Kalantari, S. (2022). Evaluating Human-in-the-Loop Assistive Feeding Robots Under Different Levels of Autonomy with VR Simulation and Physiological Sensors. In F. Cavallo, J.-J. Cabibihan, L. Fiorini, A. Sorrentino, H. He, X. Liu, Y. Matsumoto, & S. S. Ge (Eds.), Social Robotics - 14th International Conference, ICSR 2022, Proceedings (pp. 314-327). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 13818 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-24670-8_28

Evaluating Human-in-the-Loop Assistive Feeding Robots Under Different Levels of Autonomy with VR Simulation and Physiological Sensors. / Xu, Tong; Zhao, Tianlin; Cruz-Garza, Jesus G. et al.
Social Robotics - 14th International Conference, ICSR 2022, Proceedings. ed. / Filippo Cavallo; John-John Cabibihan; Laura Fiorini; Alessandra Sorrentino; Hongsheng He; Xiaorui Liu; Yoshio Matsumoto; Shuzhi Sam Ge. Springer Science and Business Media Deutschland GmbH, 2022. p. 314-327 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 13818 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Xu, T, Zhao, T, Cruz-Garza, JG, Bhattacharjee, T & Kalantari, S 2022, Evaluating Human-in-the-Loop Assistive Feeding Robots Under Different Levels of Autonomy with VR Simulation and Physiological Sensors. in F Cavallo, J-J Cabibihan, L Fiorini, A Sorrentino, H He, X Liu, Y Matsumoto & SS Ge (eds), Social Robotics - 14th International Conference, ICSR 2022, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 13818 LNAI, Springer Science and Business Media Deutschland GmbH, pp. 314-327, 14th International Conference on Social Robotics, ICSR 2022, Florence, Italy, 12/13/22. https://doi.org/10.1007/978-3-031-24670-8_28

Xu T, Zhao T, Cruz-Garza JG, Bhattacharjee T, Kalantari S. Evaluating Human-in-the-Loop Assistive Feeding Robots Under Different Levels of Autonomy with VR Simulation and Physiological Sensors. In Cavallo F, Cabibihan JJ, Fiorini L, Sorrentino A, He H, Liu X, Matsumoto Y, Ge SS, editors, Social Robotics - 14th International Conference, ICSR 2022, Proceedings. Springer Science and Business Media Deutschland GmbH. 2022. p. 314-327. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-031-24670-8_28

Xu, Tong ; Zhao, Tianlin ; Cruz-Garza, Jesus G. et al. / Evaluating Human-in-the-Loop Assistive Feeding Robots Under Different Levels of Autonomy with VR Simulation and Physiological Sensors. Social Robotics - 14th International Conference, ICSR 2022, Proceedings. editor / Filippo Cavallo ; John-John Cabibihan ; Laura Fiorini ; Alessandra Sorrentino ; Hongsheng He ; Xiaorui Liu ; Yoshio Matsumoto ; Shuzhi Sam Ge. Springer Science and Business Media Deutschland GmbH, 2022. pp. 314-327 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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