Improving Human-Robot Interaction through Interface Evolution

In remote robot operations, the human operator(s) and robot(s) are working in different locations that are not within line of sight of each other. In this situation, the human’s knowledge of the robot’s surroundings, location, activities and status is gathered solely through the interface. Depending on the work context, having a good understanding of the robot’s state can be critical. Insufficient knowledge in an urban search and rescue (USAR) situation, for example, may result in the operator driving the robot into a shaky support beam, causing a secondary collapse. While the robot‘s sensors and autonomy modes should help avoid collisions, in some cases the human must direct the robots‘ operation. If the operator does not have good awareness of the robot’s state, the robot can be more of a detriment to the task than a benefit. The human’s comprehension of the robot’s state and environment is known as situation awareness (SA). Endsley developed the most generally accepted definition for SA: “The perception of elements in the environment within a volume of time and space [Level 1 SA], the comprehension of their meaning [Level 2 SA ] and the projection of their status in the near future [Level 3 SA]” (Endsley, 1988). Drury, Scholtz, and Yanco (2003) redefined this definition of situation awareness to make it mo re specific to robot operations, breaking it into five categories: human-robot awareness (the human’s understanding of the robot), human-human awareness, robot-human awareness (the robot’s information about the human), robot-robot awareness, and the humans’ overall mission awareness. In this chapter, we focus on two of the five types of awarene ss that relate to a case in which one human operator is working with one robot: human-robot awareness and the human’s overall mission awareness. Adams (2007) discusses the implications for human-unmanned vehicle SA at each of the three levels of SA (perception, comprehension, and projection). In Drury, Keyes, and Yanco (2007), human-robot awareness is further decomposed into five types to aid in assessing the operator’s understanding of the robot: location awareness, activity awareness, surroundings awareness, status awareness and overall mission awareness (LASSO). The two types that are primarily addressed in this chapter are location awareness and surroundings awareness. Location awareness is the operator’s knowledge of where the robot is situated on a larger scale (e.g., knowing where the robot is from where it started or that it is at a certain point on a map). Surroundings awareness is the knowledge the operator has of the robot’s circumstances in a local sense, such as when there is an