面向工业人机协作中联合活动启动的视线检测与分析
Gaze Detection and Analysis for Initiating Joint Activity in Industrial Human-Robot Collaboration
AI总结：
本研究针对工业人机协作中联合活动的启动触发问题，通过奥兹巫师实验分析37名装配任务参与者的视线行为，证实84.88%的联合活动前有看向协作机器人的视线，为基于自然视线优化协作机器人交互提供了首个实证依据。
摘要：
协作机器人（cobots）已广泛应用于工业场景，但目前仍需大量研究来优化人机协作效果与操作员体验。提升协作体验的一种可行思路是基于操作员的自然线索调整协作机器人的行为。受人际互动相关研究的启发，我们开展了一项奥兹巫师（wizard-of-oz）实验，探究看向协作机器人的视线能否作为协作过程中启动联合活动的触发信号。本研究中，37名参与者执行装配任务，同时我们对其视线行为进行分析。我们采用基于视线的注意力识别模型，判断参与者何时看向协作机器人。结果显示，在绝大多数情况（84.88%）下，联合活动发生前都存在看向协作机器人的视线行为。此外，在整个装配周期中，参与者往往会在联合活动发生前后看向协作机器人。据我们所知，这是首项针对协作装配任务中与机器人共同完成联合活动的参与者的自然视线行为开展的分析研究。
英文摘要：
Collaborative robots (cobots) are widely used in industrial applications, yet extensive research is still needed to enhance human-robot collaborations and operator experience. A potential approach to improve the collaboration experience involves adapting cobot behavior based on natural cues from the operator. Inspired by the literature on human-human interactions, we conducted a wizard-of-oz study to examine whether a gaze towards the cobot can serve as a trigger for initiating joint activities in collaborative sessions. In this study, 37 participants engaged in an assembly task while their gaze behavior was analyzed. We employ a gaze-based attention recognition model to identify when the participants look at the cobot. Our results indicate that in most cases (84.88\%), the joint activity is preceded by a gaze towards the cobot. Furthermore, during the entire assembly cycle, the participants tend to look at the cobot around the time of the joint activity. To the best of our knowledge, this is the first study to analyze the natural gaze behavior of participants working on a joint activity with a robot during a collaborative assembly task.
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