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Magic Cards: A Paper Tag Interface for Implicit Robot Control

Magic Cards: A Paper Tag Interface for Implicit Robot Control. Shengdong Zhao. Koichi Nakamura. Kentaro Ishii. Takeo Igarashi. JST ERATO. Average Time on Housework Per Week. Source: National Survey of Families and Households. Domestic Robots can Help , but …. Technology:

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Magic Cards: A Paper Tag Interface for Implicit Robot Control

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  1. Magic Cards: A Paper Tag Interface for Implicit Robot Control Shengdong Zhao Koichi Nakamura KentaroIshii Takeo Igarashi JST ERATO

  2. Average Time on Housework Per Week Source: National Survey of Families and Households

  3. Domestic Robots can Help,but … Technology: Robots technologies are not well defined, and may change often. User: Housewives and elderlyare afraid of technologies Environment: Robots may disturb the comfort of our home

  4. Domestic Robots can Help,but … Technology: Robots technologies are not well defined, and may change often. User: Housewives and elderlyare afraid of technologies Environment: Robots may disturb the comfort of our home

  5. Domestic Robots can Help,but … Technology: Robots technologies are not well defined, and may change often. User: Housewives and elderlyare afraid of technologies Environment: Robots may disturb the comfort of our home

  6. Domestic Robots can Help,but … Technology: Robots technologies are not well defined, and may change often. User: Housewives and elderlyare afraid of technologies Environment: Robots may disturb the comfort of our home

  7. Domestic Robots can Help,but … Technology: Robots technologies are not well defined, and may change often. User: Housewives and elderlyare afraid of technologies Environment: Robots may disturb the comfort of our home 1 2 3

  8. 1. Frequent Change of Robot Technology Principle of Information Hiding • Hiding "difficult design decisions or design decisions which are likely to change“ (David Parnas, 1972) Housework tasks (Long history relatively stable) Interface Robot technology Human users (Change frequently)

  9. 1. Frequent Change of Robot Technology Principle of Information Hiding • Hiding "difficult design decisions or design decisions which are likely to change“ (David Parnas, 1972) Housework tasks Interface Robot technology Human users Solution: Only expose “tasks” to users

  10. 2. Fear of Learning New Technology ? ? ? Everyday Objects (Such as Paper Cards) New Technology Solution: Interact with everyday objects

  11. 3. Possible Disturbance at Home The Elves and the Shoemaker (Fairy Tales, by the Grimm Brothers) Oyster Girl (A Chinese Fairy Tale) Solution: Use asynchronous interaction

  12. Magic Cards Video Guest Star: C3PO

  13. The Robot Housework System Magic Cards Interface Sensors and Processing System Human users Robot Housework System

  14. cameras Vision-based Environment computer robots 4m computer 5m

  15. Robots Used

  16. Robots Used

  17. Robots Used

  18. Robots Used

  19. The Robot Housework System Magic Cards Interface Sensors and Processing System Human users Robot Housework System

  20. The Magic Cards Interface Magic Cards is a very simple tangible programming interface for housework planning using paper cards.

  21. The Magic Cards Interface Magic Cards is a very simple tangible programming interface for housework planning using paper cards.

  22. Grammar of the Magic Cards Task Planning Language C3PO cleans the dishes at noon.

  23. Grammar of the Magic Cards Task Planning Language C3PO cleans the dishes at noon. subject+ verb + object + modifiers The dishes need to be cleaned at noon. object + verb + modifiers

  24. Grammar of the Magic Cards Task Planning Language The dishes need to be cleaned at noon. object + verb + modifiers Object tags Action tags Modifier tags

  25. Object Tags

  26. Action Tags Vacuum … Wash dishes Wash clothes Mop Avoid Deliver Ideally include all types of house work tasks

  27. Supported Action Tags Vacuum Mop Avoid Deliver

  28. Action Tags: Vacuum, Mop, Avoid Vacuum Mop Avoid

  29. Action Tags: One to One Delivery

  30. Action Tags: Many to One Deliver

  31. Action Tags: One to Many Delivery Trash bin Door

  32. Modifier Tags Time Tags Order Tags

  33. Routine Tasks 1. Move the sofa away 2. Vacuum underneath 3. Move the sofa back

  34. Routine Tasks 1. Move the sofa away 2. Vacuum underneath 3. Move the sofa back

  35. Routine Tasks 1. Move the sofa away 2. Vacuum underneath 3. Move the sofa back

  36. Routine Tasks 1. Move the sofa away 2. Vacuum underneath 3. Move the sofa back 1 1

  37. Routine Tasks 1. Move the sofa away 2. Vacuum underneath 3. Move the sofa back 1 2 1

  38. Routine Tasks 1. Move the sofa away 2. Vacuum underneath 3. Move the sofa back

  39. Compound Tasks Define a function: CompoundTask C1(object) { Move object away; Vacuum underneath; Move object back; } Use it sometime later: C1(anotherObject); Challenge: How to incorporate this concept into Magic Cards so that non-tech-savvy people can program compound tasks?

  40. Special Purpose Tags: Compound Task Tag

  41. Special Purpose Tags: Compound Task Tag Clean underneath

  42. Evaluations 1. Iterative design of the Magic Cards interface 2. User study of both the Magic Cards interface and the prototype system

  43. Iterative Design of Magic Cards Goal • understand users • receive initial feedback on design concepts • refine paper-tag interface Approach • 6 participants, 2 hrs per person (1 male, 5 females, age range 21-64, mean 35.8) • Semi-structured interviews Iterations

  44. Action Tags Modifier Tags Time Tags Order Tags Special Purpose and Object Tags

  45. User Study Goal • Test the “Magic Cards” interface and the prototype system Approach • Participants: • 8 participants, 2 hrs per person (all females, 21-52, mean 31.5) • Procedure: • Questionnaire • Paper-tag evaluation • Task scenarios in simulated environment

  46. Positive Results and Feedback 6/8 interpret all tags correctly Short task planning time (within minutes) Magic Cards is easy to understand and use • e.g., a 52 year-old lady who self-describe as being afraid of “any buttons” highly praised the simplicity of the interface

  47. Concerns and Suggestions • Design for young children • Child safe • Collect cards after planning • All-encompassing robots preferred for small home • Privacy and aesthetics issues of sensors • Sensors on robots instead of in the environment?

  48. Conclusion Introduced an alternative HRI design approach by focusing on “tasks” Designed the Magic Cards interface Developed a prototype system to support interaction with the Magic Cards interface

  49. Future Work Extend the Magic Cards interface with more actions and modifiers tags Improve the sensor and system technologies Use more advanced robots … Wash dishes Wash clothes

  50. Acknowledgments Minghui Sun, YoshikiTakeoka, SorahikoNukatani, Tak Miyake, Zoey Yu, YotamGingold, Koji Yatani, Daisuke Sakamoto JST ERATO: http://www.designinterface.jp (Many openings for post-docs and interns!) User study participants Anonymous reviewers

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