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Being connected to the world through a robot
Umeå universitet, Samhällsvetenskapliga fakulteten, Institutionen för informatik.
2022 (Engelska)Doktorsavhandling, sammanläggning (Övrigt vetenskapligt)Alternativ titel
Att vara förbunden med världen genom en robot (Svenska)
Abstract [en]

Robotic telepresence systems enable humans to be present physically and socially in a distant environment. Robotic telepresence technology is the latest in the line of communication technology development. The unique feature of such technology is that its users can act in a distant environment and interact with other people through these systems. The robot is the user’s physical avatar through which they act. This thesis aims to understand how people connect to the world through robotic telepresence. The aim includes addressing how humans operate the robotic telepresence system, how the robotic telepresence supports performing actions in a distant location and supports social interaction, and how a human experience being in a robotic body.

The thesis is based on five studies, reported in five papers, that explore different aspects of robotic telepresence. The theoretical foundations consist of activity theory and phenomenology, two traditions that are arguably compatible and complementary. The concept of remote embodiment is proposed to describe the relationship between the human and robotic telepresence systems. Remote embodiment is a phenomenon, design concept, and feature that enables robotic telepresence to be used in a wide variety of activities. Furthermore, I use the concept of remote embodiment to outline possible futures of robotic telepresence.

Ort, förlag, år, upplaga, sidor
Umeå: Umeå University , 2022. , s. 116
Serie
Research reports in informatics, ISSN 1401-4572 ; RR-22.01
Nyckelord [en]
Human-Computer Interaction, Interaction Design, Robotic Telepresence, Mobile Robotic Presence, Activity Theory, Phenomenology, Embodiment
Nationell ämneskategori
Mänsklig interaktion med IKT
Forskningsämne
människa-datorinteraktion
Identifikatorer
URN: urn:nbn:se:umu:diva-194584ISBN: 978-91-7855-821-6 (tryckt)ISBN: 978-91-7855-822-3 (digital)OAI: oai:DiVA.org:umu-194584DiVA, id: diva2:1657323
Disputation
2022-06-03, Triple Helix, Samverkanshuset, Universitetstorget 4, Umeå, 14:00 (Engelska)
Opponent
Handledare
Forskningsfinansiär
Vetenskapsrådet, 2015-05316Tillgänglig från: 2022-05-13 Skapad: 2022-05-10 Senast uppdaterad: 2022-05-11Bibliografiskt granskad
Delarbeten
1. Probing the design space of a telepresence robot gesture arm with low fidelity prototypes
Öppna denna publikation i ny flik eller fönster >>Probing the design space of a telepresence robot gesture arm with low fidelity prototypes
2017 (Engelska)Ingår i: HRI '17: Proceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction, ACM Digital Library, 2017, , s. 494s. 352-360Kapitel i bok, del av antologi (Refereegranskat)
Abstract [en]

The general problem addressed in this paper is supporting a more efficient communication between remote users, who control telepresence robots, and people in the local setting. The design of most telepresence robots does not allow them to perform gestures. Given the key role of pointing in human communication, exploring design solutions for providing telepresence robots with deictic gesturing capabilities is, arguably, a timely research issue for Human-Robot Interaction. To address this issue, we conducted an empirical study, in which a set of low fidelity prototypes, illustrating various designs of a robot's gesture arm, were assessed by the participants (N=18). The study employed a mixed-method approach, a combination of a controlled experiment, elicitation study, and design provocation. The evidence collected in the study reveals participants' assessment of the designs, used in the study, and provides insights into parti.cipants' attitudes and expectations regarding gestural communication with telepresence robots in general.

Ort, förlag, år, upplaga, sidor
ACM Digital Library, 2017. s. 494
Nyckelord
interaction design, low fidelity prototypes, mobile remote presence, pointing, referential gestures, telepresence robots
Nationell ämneskategori
Mänsklig interaktion med IKT
Identifikatorer
urn:nbn:se:umu:diva-139982 (URN)10.1145/2909824.3020223 (DOI)000463724200040 ()2-s2.0-85021828485 (Scopus ID)978-1-4503-4336-7 (ISBN)
Konferens
12th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2017, Vienna, Austria, March 6-9, 2017
Forskningsfinansiär
Vetenskapsrådet, 2015-05316
Tillgänglig från: 2017-09-28 Skapad: 2017-09-28 Senast uppdaterad: 2022-05-10Bibliografiskt granskad
2. Non-technical users’ first encounters with a robotic telepresence technology: An empirical study of office workers
Öppna denna publikation i ny flik eller fönster >>Non-technical users’ first encounters with a robotic telepresence technology: An empirical study of office workers
2018 (Engelska)Ingår i: Paladyn - Journal of Behavioral Robotics, ISSN 2080-9778, E-ISSN 2081-4836, Vol. 9, nr 1, s. 307-322Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

Robotic telepresence technologies are becoming ever more usable and affordable, as well as increasingly available as consumer products. In the coming years, a significant number of people are likely to encounter the technology for the first time, and many, if not most, of them are going to be “non-technical” users, that is, people who do not have special technical knowledge and skills of IT-professionals. Therefore, understanding how nontechnical users are getting familiar with robotic telepresence technology, how they perceive the technology, learn to control it, and relate it to their everyday work practices, is a topical research issue. This paper reports an empirical study, in which eight non-technical users, office workers who were not IT-professionals, were introduced to robotic telepresence and provided with a practical experience of acting as pilots of a remotely controlled robot. In follow up interviews the participants were asked to reflect on potential uses of the technology in their professional activities. The participants could successfully acquire basic navigation skills and reached a high level of spatial presence, but experienced problems with developing a "new body image”. When reflecting on the potential of the technology for supporting their work, the participants envisioned a number of benefits associated with remote physical mobility. The impact of the technology on the quality of workrelated social interactions was expected to be generally positive but somewhat limited.

Ort, förlag, år, upplaga, sidor
Walter de Gruyter, 2018
Nyckelord
robotic telepresence, mobile remote presence (MRP), non-technical users, first encounters, appropriation, spatial presence, embodiment
Nationell ämneskategori
Mänsklig interaktion med IKT Människa-datorinteraktion (interaktionsdesign)
Identifikatorer
urn:nbn:se:umu:diva-164268 (URN)10.1515/pjbr-2018-0022 (DOI)2-s2.0-85056091947 (Scopus ID)
Forskningsfinansiär
Vetenskapsrådet, 2015-05316
Tillgänglig från: 2019-10-19 Skapad: 2019-10-19 Senast uppdaterad: 2022-05-10Bibliografiskt granskad
3. Evaluating Input Devices for Robotic Telepresence*
Öppna denna publikation i ny flik eller fönster >>Evaluating Input Devices for Robotic Telepresence*
2021 (Engelska)Ingår i: ACM International Conference Proceeding Series, Association for Computing Machinery (ACM), 2021, artikel-id 24Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Robotic telepresence (RT)-technologies enable users' to be physically and socially present in a remote environment. These systems consist of a robot with a base with wheels, cameras, speakers, microphones, and a monitor, remotely controlled via a computer. It is common for robotic telepresence systems to support multiple input devices, including keyboard, mouse, and game controller. However, to the authors' knowledge, there are no studies that have investigated the differences between the devices. This study investigates how four different input devices, mouse, game controller, and keyboard, affect performance and experience. The study consists of a controlled experiment where participants navigated a track with the four different input devices. Outlined in this article is a mixed-method study aimed to uncover the complexity of input devices, how various interaction design factors affect the performance, and the users' experience of different input devices. The study found the keyboard and game controller to be the overall best devices. Furthermore, this article highlights a need to understand how abilities received from previous experiences transfer to the usage of RT-technology.

Ort, förlag, år, upplaga, sidor
Association for Computing Machinery (ACM), 2021
Nyckelord
Cognitive Load, Input Devices, Mobile Robotic Presence, Robotic Telepresence, User Study
Nationell ämneskategori
Datavetenskap (datalogi) Människa-datorinteraktion (interaktionsdesign)
Identifikatorer
urn:nbn:se:umu:diva-183131 (URN)10.1145/3452853.3452869 (DOI)2-s2.0-85104970662 (Scopus ID)978-1-4503-8757-6 (ISBN)
Konferens
32nd European Conference on Cognitive Ergonomics: Designing Virtual and Physical Interactive Systems, ECCE 2021, Siena, Italy, April 26–29, 2021
Tillgänglig från: 2021-05-17 Skapad: 2021-05-17 Senast uppdaterad: 2023-03-24Bibliografiskt granskad
4. Performance, Power, and Place: User Experience of Contactless Object Manipulation in Robotic Telepresence
Öppna denna publikation i ny flik eller fönster >>Performance, Power, and Place: User Experience of Contactless Object Manipulation in Robotic Telepresence
2020 (Engelska)Ingår i: NordiCHI '20: Proceedings of the 11th Nordic Conference on Human-Computer Interaction: Shaping Experiences, Shaping Society, Association for Computing Machinery (ACM), 2020, artikel-id 61Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Most robotic telepresence systems are severely limited in their ability to physically interact with surrounding objects. The solution we propose, "double remote control", or DRC, is to make it possible for the user controlling the telepresence robot ("the pilot"), to also remotely control objects in the robot's physical environment. This paper reports a user experience study, comparing a Wizard of Oz-style prototype of a DRC-enabled environment with a control condition, in which DRC was not enabled. The participants, who acted as either remote pilots (NP=16) or local people in the robot's proximity (NLP=16), were asked to carry out joint activities in each of these conditions. It was found that DRC had a generally positive effect on how participants, and especially pilots, performed their tasks, but the impact of DRC on the social context of interaction was mixed.

Ort, förlag, år, upplaga, sidor
Association for Computing Machinery (ACM), 2020
Nyckelord
contactless object manipulation, double remote control, Mobile Remote Presence, Robotic telepresence, user enactments, Wizard of Oz prototyping
Nationell ämneskategori
Människa-datorinteraktion (interaktionsdesign)
Identifikatorer
urn:nbn:se:umu:diva-188963 (URN)10.1145/3419249.3420183 (DOI)2-s2.0-85123041164 (Scopus ID)9781450375795 (ISBN)
Konferens
NordiCHI 2020, 11th Nordic Conference on Human-Computer Interaction: Shaping Experiences, Shaping Society, online via Tallinn, Estonia, October 25-29, 2020
Tillgänglig från: 2021-10-28 Skapad: 2021-10-28 Senast uppdaterad: 2022-05-10Bibliografiskt granskad
5. Exploring the Relationship between Physical Presence, User Experience, and Task Parameters in Robotic Telepresence
Öppna denna publikation i ny flik eller fönster >>Exploring the Relationship between Physical Presence, User Experience, and Task Parameters in Robotic Telepresence
2021 (Engelska)Ingår i: ACM International Conference Proceeding Series, Association for Computing Machinery (ACM), 2021, artikel-id 25Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

This paper reports a study of pilots of a robotic telepresence system, exploring the relationship between the pilots' experience of physical presence, overall user experience, and task parameters. The pilots (N=12) performed a set of tasks characterized by different Task Focus (Process vs. Outcome) and Navigation Difficulty (Low vs. High); their experience was assessed by using a set of subjective rating scales. It was found that the experience of being physically present in a remote location positively correlated with self-reported gaming skills, objective indicators of navigation efficiency, as well as feelings of being safe and relaxed. No significant effects of task focus and navigation difficulty were found.

Ort, förlag, år, upplaga, sidor
Association for Computing Machinery (ACM), 2021
Nyckelord
Mobile Remote Presence (MRP), navigation difficulty, physical presence, Robotic telepresence, task focus
Nationell ämneskategori
Människa-datorinteraktion (interaktionsdesign) Interaktionsteknik
Forskningsämne
människa-datorinteraktion
Identifikatorer
urn:nbn:se:umu:diva-183121 (URN)10.1145/3452853.3452874 (DOI)2-s2.0-85105013272 (Scopus ID)978-1-4503-8757-6 (ISBN)
Konferens
32nd European Conference on Cognitive Ergonomics: Designing Virtual and Physical Interactive Systems, ECCE 2021, Siena, Italy, April 26–29, 2021
Tillgänglig från: 2021-05-20 Skapad: 2021-05-20 Senast uppdaterad: 2023-03-24Bibliografiskt granskad

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