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Towards Mixed-Initiative Human–Robot Interaction: Assessment of Discriminative Physiological and Behavioral Features for Performance Prediction

Ponzoni Carvalho Chanel, Caroline and Roy, Raphaëlle N. and Dehais, Frédéric and Drougard, Nicolas Towards Mixed-Initiative Human–Robot Interaction: Assessment of Discriminative Physiological and Behavioral Features for Performance Prediction. (2020) Sensors, Special issue Human-Machine Interaction and Sensors, 20 (1). 1-20. ISSN 1424-8220

(Document in English)

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Official URL: http://dx.doi.org/10.3390/s20010296


The design of human–robot interactions is a key challenge to optimize operational performance. A promising approach is to consider mixed-initiative interactions in which the tasks and authority of each human and artificial agents are dynamically defined according to their current abilities. An important issue for the implementation of mixed-initiative systems is to monitor human performance to dynamically drive task allocation between human and artificial agents (i.e., robots). We, therefore, designed an experimental scenario involving missions whereby participants had to cooperate with a robot to fight fires while facing hazards. Two levels of robot automation (manual vs. autonomous) were randomly manipulated to assess their impact on the participants’ performance across missions. Cardiac activity, eye-tracking, and participants’ actions on the user interface were collected. The participants performed differently to an extent that we could identify high and low score mission groups that also exhibited different behavioral, cardiac and ocular patterns. More specifically, our findings indicated that the higher level of automation could be beneficial to low-scoring participants but detrimental to high-scoring ones, and vice versa. In addition, inter-subject single-trial classification results showed that the studied behavioral and physiological features were relevant to predict mission performance. The highest average balanced accuracy (74%) was reached using the features extracted from all input devices. These results suggest that an adaptive HRI driving system, that would aim at maximizing performance, would be capable of analyzing such physiological and behavior markers online to further change the level of automation when it is relevant for the mission purpose.

Item Type:Article
HAL Id:hal-03125169
Audience (journal):Special issue journal
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
French research institutions > Artificial and Natural Intelligence Toulouse Institute - ANITI (FRANCE)
Laboratory name:
ANITI ANR-19-PI3A-0004
Deposited On:13 Jan 2020 10:48

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