How to Communicate Robot Motion Intent: A Scoping Review

Abstract

Robots are becoming increasingly omnipresent in our daily lives, supporting us and carrying out autonomous tasks. In Human-Robot Interaction, human actors benefit from understanding the robot's motion intent to avoid task failures and foster collaboration. Finding effective ways to communicate this intent to users has recently received increased research interest. However, no common language has been established to systematize robot motion intent. This work presents a scoping review aimed at unifying existing knowledge. Based on our analysis, we present an intent communication model that depicts the relationship between robot and human through different intent dimensions (intent type, intent information, intent location). We discuss these different intent dimensions and their interrelationships with different kinds of robots and human roles. Throughout our analysis, we classify the existing research literature along our intent communication model, allowing us to identify key patterns and possible directions for future research.

arXiv commentInteractive Data Visualization of the Paper Corpus: https://rmi.robot-research.de

References in corpus (11)

• Augmented Reality and Robotics: A Survey and Taxonomy for AR-enhanced Human-Robot Interaction and Robotic Interfaces
• Believing in BERT: Using expressive communication to enhance trust and counteract operational error in physical Human-Robot Interaction
• Efficient and Trustworthy Social Navigation Via Explicit and Implicit Robot-Human Communication
• Hey Robot, Which Way Are You Going? Nonverbal Motion Legibility Cues for Human-Robot Spatial Interaction
• Expressive Robot Motion Timing
• Soft Two-degree-of-freedom Dielectric Elastomer Position Sensor Exhibiting Linear Behavior
• Negotiation-based Human-Robot Collaboration via Augmented Reality
• Projection Mapping Implementation: Enabling Direct Externalization of Perception Results and Action Intent to Improve Robot Explainability
• HAVEN: A Unity-based Virtual Robot Environment to Showcase HRI-based Augmented Reality
• Visualizing Robot Intent for Object Handovers with Augmented Reality
• TOBY: A Tool for Exploring Data in Academic Survey Papers

Cited by in corpus (9)

• The Magni Human Motion Dataset: Accurate, Complex, Multi-Modal, Natural, Semantically-Rich and Contextualized
• HaptiX: Vibrotactile Haptic Feedback for Communication of 3D Directional Cues
• Exploring Large Language Models to Facilitate Variable Autonomy for Human-Robot Teaming
• AdaptiX -- A Transitional XR Framework for Development and Evaluation of Shared Control Applications in Assistive Robotics
• Advantages of Multimodal versus Verbal-Only Robot-to-Human Communication with an Anthropomorphic Robotic Mock Driver
• In Time and Space: Towards Usable Adaptive Control for Assistive Robotic Arms
• ARTHUR: Authoring Human-Robot Collaboration Processes with Augmented Reality using Hybrid User Interfaces
• Hands-On Robotics: Enabling Communication Through Direct Gesture Control
• Exploring AI-enhanced Shared Control for an Assistive Robotic Arm