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P. Barattini, C. Wgerer, N. Robertson, C.Morand, A. Pichler A. Rovetta, A. Corradini, H.

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I.Almajai

Workshop on Human Interaction with Industrial Collaborative Autonomous Robots

Abstract We propose a workshop on Human Robot Interaction in Industrial settings with Autonomous Robots. The focus will be vocal and gesture commands to the robot and feedback from the robot. We aim to discuss new techniques in this area and the possible need of their standardization. In addition to gestures the scope of the workshop will consider other channels such as haptic and physical contact. The output of the workshop shall be the strategy and workplan to create a permanent working group on the topic and Interaction with Organizations and Standardizing bodies. Current work in scientific organizations and the industry community working in HRI will be presented.

Currently there is no set of standard Gestures for specific commands. A question we may ask is: Do we need a gestabulary? If so, what would it look like? This is one of the basic topic to be discussed in the proposed workshop Second relevant topic is the feedback of the robot. Moreover, considering that the interaction with the a robot in an industrial environment and production line could rely on a blend of different modalities such as audio, visual, vocal signals cues, intentional and unintentional, the human aspect of the interaction should also be considered. Specifically, it is very relevant to minimize the cognitive and perceptual workload as well as the training needs. In the next to come scenario, there will be many different robots with different roles and possibly produced by different companies or designers. In such a situation, having standard feedback from robot i.e. a basic signals and cue language is of utmost relevance. Do we need a feedbackulary? If so, what would it look like? This is another one of the topics to be discussed in the proposed workshop

I. INTRODUCTION Human Robot Interaction in Industrial settings with Autonomous Robots, as well in Services and assistance is currently a relevant topic of Research. Numerous projects have been financed by the European Commission in this area for example LOCOBOT; KSERA; R3-COP; RADHAR; TAPAS; ECHORD; ROSETTA . The need of standards for signals, cues and communication provided by an industrial robot is more stringent that in other areas because the Industrial and Production environment is highly regulated. In particular with regards to safety by European Laws for instance the European Council Directive 92/58/EEC set forth minimum requirements for the provision of safety signs at work, by the National implementations of the EU Directive, by the local national regulations, by other useful ISO standards beyond those related to Robotics such as ISO 11428 et 11429 visual danger signals; ISO 7331 2005 Ergonomics -- Danger signals for public and work areas -- Auditory danger signals Standardization is also a very important topic for the European Commission, many different projects funded by FP6 and FP7 are forced to bring in their elaborated results in safety into a standardization group. Regarding ISO standards dealing with industrial robots and service robots these are taken care of in ISO committee TC184/SC2 Robots and robotic devices. This workshop proposal revolves around a few basic issues, the first one being the creation of a standard set of gestures for specific commands, and the need for it.

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It must also be considered that nevertheless scientific work has been dedicated to Human-Machine Interfaces, Human Computer Interfaces, Human Robot Interfaces and Interaction, the research is still on-going.

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Regarding, for example, the visual feedback implemented through light signals such as blinking LEDs, there is some knowledge that could be exploited to define some basic feedback signals like "OK" or processing or the acknowledgement of a command, and many other. There are many communities and organizations interested in Human Robot Interactions. Here we list a few examples HRI www.humanrobot.interaction.org, Robotiquette www.robotiquette.eu Human Robot Work Interaction (on Facebook) CLAWAR: www.clawar.org EURobotics www.eurobotics-project.eu EURON EU Portal www.euron.org European Robotics www.european-robotics.eu

P. Barattini is with Ridgeback s.a.s., Turin, Italy (phone: +39-0172575087; e-mail: paolo.barattini@sharika.eu). C. Wgerer and A. Pichler are with Profactor GmbH , Austria N. Robertson (e-mail: n.m.robertson@hw.ac.uk) and C. Morand(e-mail: Morand@hw.ac.uk) are with Joint Research Institute in Signal and Image Processing, Heriot-Watt and Edinburgh Universities UK Prof. A. Rovetta is with Polytechnical School of Milano, Robotics Lab, Italy Prof. A. Corradini is with Copenhagen School of Design and Technology, Copenhagen, Denmark Dr. Hooman Samani is with Keio-NUS CUTE Center, Interactive and Digital Media Institute National University of Singapore J.Hopgood and I.Almajai are with The School of Engineering, The University of Edinburgh

European Robotics
....and many others The availability of a scientific agreement (if not a standard) would allow researchers to compare experiments in HRI with reference to a fixed set of parameters. This would also pave

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the way to contributions to standardization activities such as those of ISO. In the medical research has emerged the so called Evidencebased Medicine (EBM). The drive behind these developments was exactly the need to set down a set rules that make it possible to compare research results. We would be happy, if the proposed workshop could contribute to a similar development. So maybe in the next future, we could speak of Evidence Based Research in HRI.

The following speakers have agreed to present at the workshop and to coordinate the discussion C. Wgerer, A. Pichler: The industrial users perspective N. Robertson, C.Morand, The research perspective in Gesture Recognition A. Rovetta, The Applied research in industrial context for Human Robot physical interaction A. Corradini Language: speech and gesture vocabularies Hooman Samani, Affective interfaces J.Hopgood and I.Almajai The Research perspective in Voice Recognition, Tracking and vocal HRI Paolo Barattini: Ergonomics and design of sound and visual robot feedback We will solicit further contributions from the research community by open peer-review.
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Workshop Organisation and structure

The Workshop will have the duration of half a day. 1 hour will be dedicated to introductory presentation. 3 hours to smaller groups discussions The main scope of the workshop is to support discussion and to obtain as tangible output the strategy and workplan to create a permanent working group on the topic and Interaction with Organisations and Standardising bodies. Second, longer term objective to create the common ground to write a paper, expression of the research community at large, a position paper, presenting a community review output of the workshop The workshop is open to all interested researcher.
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The participants after brief presentations by the proposers, will work in groups on the topics proposing and possibly finding an agreement about basic sets of vocal and gesture commands and robot feedback to be used for research about industrial HRI and safety. The workshop will have a direct follow-up through the activities of the HRI and Robotiquette community forum and groups and through the activities of the proposers and participants to the workshop. Contacts, about the topics of the Workshops. have been already taken with Dr. M. Lafvas Secretary of the ISO Commitee on Robots and Robotics devices that expressed interest in the topics as well as with the Human Robot Interaction group (the researcher involved in creating the open access Journal of HRI) www.humanrobotinteraction.org.

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