|M.Sc Student||Berkovitz Inbal|
|Subject||The Effect of Spatial Cognition and Context on Robot|
Movement Legibility in Human-Robot Collaboration
|Department||Department of Industrial Engineering and Management||Supervisor||Professor Avi Parush|
|Full Thesis text|
A major challenge in human-robot collaboration is to convey the robots' intentions in a legible way to the human collaborator. The current study examined the influence of spatial factors on robot movement legibility in a human-robot collaboration context. In two experiments, participants observed fourteen different trajectories of a robotic arm reaching towards two objects, in different spatial configurations (horizontal and vertical), and from three different perspectives. Participants were required to determine to which of the two objects the robot was reaching. We measured the correctness of their decisions and time to decisions. Results show similar correctness patterns across movement configurations and perspectives and longer times to decision among correct responses. Results suggest legibility of robotic arm movement is context sensitive, particularly as a function of trajectory's distance from the unintended target. Furthermore, we propose participants used a central spatial cognitive mechanism to interpret the robotic movements, regardless of the spatial condition.