research-article

Public Access

A Drone Teacher: Designing Physical Human-Drone Interactions for Movement Instruction

Authors:

Nialah Jenae Wilson-Small,

David Goedicke,

Kirstin Petersen,

Shiri AzenkotAuthors Info & Claims

HRI '23: Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction

Pages 311 - 320

https://doi.org/10.1145/3568162.3576985

Published: 13 March 2023 Publication History

Abstract

Drones (micro unmanned aerial vehicles) are becoming more prevalent in applications that bring them into close human spaces. This is made possible in part by clear drone-to-human communication strategies. However, current auditory and visual communication methods only work with strict environmental settings. To continue expanding the possibilities for drones to be useful in human spaces, we explore ways to overcome these limitations through physical touch. We present a new application for drones--physical instructive feedback. To do this we designed three different physical interaction modes for a drone. We then conducted a user study (N=12) to answer fundamental questions of where and how people want to physically interact with drones, and what people naturally infer the physical touch is communicating. We then used these insights to conduct a second user study (N=14) to understand the best way for a drone to communicate instructions to a human in a movement task. We found that continuous physical feedback is both the preferred mode and is more effective at providing instruction than incremental feedback.

Supplementary Material

MP4 File (hrifp-1031.mp4)

Presentation video-main track

Download
61.74 MB

References

[1]

Muhammad Abdullah, Minji Kim, Waseem Hassan, Yoshihiro Kuroda, and Seokhee Jeon. 2018. HapticDrone: An encountered-type kinesthetic haptic interface with controllable force feedback: Example of stiffness and weight rendering. In IEEE Haptics Symposium, HAPTICS, Vol. 2018-March. https://doi.org/10.1109/HAPTICS.2018.8357197

[2]

Parastoo Abtahi, David Zhao, Jane E., and James Landay. 2017a. Drone Near Me: Exploring Touch-Based Human-Drone Interaction. IMWUT, Vol. 1, 3 (2017).

Digital Library

[3]

Parastoo Abtahi, David Y. Zhao, Jane L. E., and James A. Landay. 2017b. Drone Near Me. Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies, Vol. 1, 3 (9 2017), 1--8. https://doi.org/10.1145/3130899

Digital Library

[4]

Majed Al Zayer, Sam Tregillus, Jiwan Bhandari, Dave Feil-Seifer, and Eelke Folmer. 2016. Exploring the Use of a Drone to Guide Blind Runners. In Proceedings of the 18th International ACM SIGACCESS Conference on Computers and Accessibility. ACM, New York, NY, USA, 263--264. https://doi.org/10.1145/2982142.2982204

Digital Library

[5]

Alex Heath. 2022. Snapchat's Flying Camera. https://www.theverge.com/2022/4/28/23043011/snapchat-pixy-drone-hands-on

[6]

Hesam Alizadeh, Ehud Sharlin, Richard Tang, and Anthony Tang. 2014. Haptics in remote collaborative exercise systems for seniors. In Conference on Human Factors in Computing Systems - Proceedings. https://doi.org/10.1145/2559206.258131

Digital Library

[7]

Thomas Arnold and Matthias Scheutz. 2018. Observing Robot Touch in Context: How Does Touch and Attitude Affect Perceptions of a Robot's Social Qualities?. In ACM/IEEE International Conference on Human-Robot Interaction. https://doi.org/10.1145/3171221.3171263

Digital Library

[8]

Tomas Ascensao and Anahita Jamshidnejad. 2022. Autonomous Socially Assistive Drones Performing Personalized Dance Movement Therapy: An Adaptive Fuzzy-Logic-Based Control Approach for Interaction with Humans. IEEE Access, Vol. 10 (2022). https://doi.org/10.1109/ACCESS.2022.3143992

[9]

Jonas Auda, Martin Weigel, Jessica R. Cauchard, and Stefan Schneegass. 2021. Understanding Drone Landing on the Human Body. In Proceedings of MobileHCI 2021 - ACM International Conference on Mobile Human-Computer Interaction: Mobile Apart, MobileTogether. https://doi.org/10.1145/3447526.3472031

Digital Library

[10]

Mauro Avila Soto, Markus Funk, Matthias Hoppe, Robin Boldt, Katrin Wolf, and Niels Henze. 2017. DroneNavigator. https://doi.org/10.1145/3132525.3132556

Digital Library

[11]

Christopher Banks, Antonio Bono, and Samuel Coogan. 2021. Physical Human-UAV Interaction with Commercial Drones using Admittance Control. In IFAC-PapersOnLine, Vol. 54. https://doi.org/10.1016/j.ifacol.2021.11.184

[12]

Alisha Bevins and Brittany A. Duncan. 2021a. Aerial Flight Paths for Communication. Frontiers in Robotics and AI, Vol. 8 (2021). https://doi.org/10.3389/frobt.2021.719154

[13]

Alisha Bevins and Brittany A. Duncan. 2021b. Aerial flight paths for communication: How participants perceive and intend to respond to drone movements. In ACM/IEEE International Conference on Human-Robot Interaction. https://doi.org/10.1145/3434073.3444645

Digital Library

[14]

Felix Born, Maic Masuch, and Antonia Hahn. 2020. Ghost Sweeper: Using a Heavy Passive Haptic Controller to Enhance a Room-Scale VR Exergame. In IEEE Conference on Computatonal Intelligence and Games, CIG, Vol. 2020-August. https://doi.org/10.1109/CoG47356.2020.9231867

[15]

Anke M. Brock, Julia Chatain, Michelle Park, Tommy Fang, Martin Hachet, James A. Landay, and Jessica R. Cauchard. 2018. FlyMap: Interacting with maps projected from a drone. In PerDis 2018 - Proceedings of the 7th ACM International Symposium on Pervasive Displays. https://doi.org/10.1145/3205873.3205877

Digital Library

[16]

Jessica R. Cauchard, Jane L. E, Kevin Y. Zhai, and James A. Landay. 2015. Drone & me: an exploration into natural human-drone interaction. Proceedings of the 2015 ACM International Joint Conference on Pervasive and Ubiquitous Computing - UbiComp '15 (2015). https://doi.org/10.1145/2750858.2805823

Digital Library

[17]

Jessica R. Cauchard, Kevin Y. Zhai, Marco Spadafora, and James A. Landay. 2016. Emotion encoding in human-drone interaction. In ACM/IEEE International Conference on Human-Robot Interaction, Vol. 2016-April. https://doi.org/10.1109/HRI.2016.7451761

[18]

Alexandre Cherpillod, Dario Floreano, and Stefano Mintchev. 2019. Embodied Flight with a Drone. In 2019 Third IEEE International Conference on Robotic Computing (IRC). IEEE, 386--390. https://doi.org/10.1109/IRC.2019.00070

[19]

Ashley Colley, Lasse Virtanen, Pascal Knierim, and Jonna H"a kkil"a. 2017. Investigating drone motion as pedestrian guidance. In ACM International Conference Proceeding Series. https://doi.org/10.1145/3152832.3152837

Digital Library

[20]

Henriette Cramer, Nicander Kemper, Alia Amin, and Vanessa Evers. 2008. The effects of robot touch and proactive behaviour on perceptions of human-robot interactions. In Proceedings of the 4th ACM/IEEE International Conference on Human-Robot Interaction, HRI'09. https://doi.org/10.1145/1514095.1514173

Digital Library

[21]

Eberhard Graether and Florian Mueller. 2012. Joggobot. In CHI '12 Extended Abstracts on Human Factors in Computing Systems. ACM, New York, NY, USA, 1063--1066. https://doi.org/10.1145/2212776.2212386

Digital Library

[22]

Lynne Grewe and Garrett Stevenson. 2019. Seeing eye drone. In Proceedings of the ACM Turing Celebration Conference - China. ACM, New York, NY, USA, 1--5. https://doi.org/10.1145/3321408.3321414

Digital Library

[23]

Hooman Hedayati, Ryo Suzuki, Daniel Leithinger, and Daniel Szafir. 2020. PufferBot: Actuated Expandable Structures for Aerial Robots. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 1338--1343. https://doi.org/10.1109/IROS45743.2020.9341088

[24]

Viviane Herdel, Lee J. Yamin, and Jessica R. Cauchard. 2022. Above and Beyond: A Scoping Review of Domains and Applications for Human-Drone Interaction. In CHI Conference on Human Factors in Computing Systems. ACM, New York, NY, USA, 1--22. https://doi.org/10.1145/3491102.3501881

Digital Library

[25]

Matthias Hoppe, Pascal Knierim, Thomas Kosch, Markus Funk, Lauren Futami, Stefan Schneegass, Niels Henze, Albrecht Schmidt, and Tonja Machulla. 2018. VRHapticDrones: Providing haptics in virtual reality through quadcopters. In Proceedings of the 17th International Conference on Mobile and Ubiquitous Multimedia. ACM, New York, NY, USA, 7--18. https://doi.org/10.1145/3282894.3282898

Digital Library

[26]

Kevin Hung, Nathan Wan, Sheung On Choy, Carlin Chu, and Daniel H.K. Chow. 2016. Design of an exergaming system with haptic feedback for the investigation of energy expenditure and muscle activities. In IEEE International Conference on Industrial Informatics (INDIN), Vol. 0. https://doi.org/10.1109/INDIN.2016.7819286

[27]

Felix Huppert, Gerold Hoelzl, and Matthias Kranz. 2021. GuideCopter - A Precise Drone-Based Haptic Guidance Interface for Blind or Visually Impaired People. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems. ACM, New York, NY, USA, 1--14. https://doi.org/10.1145/3411764.3445676

Digital Library

[28]

Alexandra Kalaitzidou, Nathalie Senechal, Paschalis Dimitriou, Krishnan Chandran, and Matthew Mcginity. 2022. "E-WAFE" - A Full Body Embodied Social Exergame. In Extended Abstracts of the Annual Symposium on Computer-Human Interaction in Play. ACM, New York, NY, USA, 286--290. https://doi.org/10.1145/3505270.3558375

Digital Library

[29]

Pascal Knierim, Thomas Kosch, Alexander Achberger, and Markus Funk. 2018a. Flyables. In Proceedings of the Twelfth International Conference on Tangible, Embedded, and Embodied Interaction. ACM, New York, NY, USA, 329--336. https://doi.org/10.1145/3173225.3173273

Digital Library

[30]

Pascal Knierim, Thomas Kosch, Valentin Schwind, Markus Funk, Francisco Kiss, Stefan Schneegass, and Niels Henze. 2017. Tactile drones - Providing immersive tactile feedback in virtual reality through quadcopters. In Conference on Human Factors in Computing Systems - Proceedings, Vol. Part F127655. https://doi.org/10.1145/3027063.3050426

Digital Library

[31]

Pascal Knierim, Steffen Maurer, Katrin Wolf, and Markus Funk. 2018b. Quadcopter-Projected In-Situ Navigation Cues for Improved Location Awareness. In Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems. ACM, New York, NY, USA, 1--6. https://doi.org/10.1145/3173574.3174007

Digital Library

[32]

Marc Lieser, Ulrich Schwanecke, and Jorg Berdux. 2021a. Evaluating distances in tactile human-drone interaction. In 2021 30th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2021. https://doi.org/10.1109/RO-MAN50785.2021.9515313

Digital Library

[33]

Marc Lieser, Ulrich Schwanecke, and Jörg Berdux. 2021b. Tactile Human-Quadrotor Interaction: MetroDrone. In TEI 2021 - Proceedings of the 15th International Conference on Tangible, Embedded, and Embodied Interaction. https://doi.org/10.1145/3430524.3440649

Digital Library

[34]

Dylan P. Losey, Craig G. McDonald, Edoardo Battaglia, and Marcia K. O'Malley. 2018. A review of intent detection, arbitration, and communication aspects of shared control for physical human--robot interaction. https://doi.org/10.1115/1.4039145

[35]

Calvin Rubens, Sean Braley, Antonio Gomes, Daniel Goc, Xujing Zhang, Juan Pablo Carrascal, and Roel Vertegaal. 2015. BitDrones: Towards self-levitating programmable matter via interactive 3D quadcopter displays. In UIST 2015 - Adjunct Publication of the 28th Annual ACM Symposium on User Interface Software and Technology. https://doi.org/10.1145/2815585.2817810

Digital Library

[36]

Scarlett Entertainment. 2020. Aerial Drone Dance. https://scarlettentertainment.com/acts/aerial-drone-dance

[37]

Jürgen Scheible and Markus Funk. 2016. In-Situ-DisplayDrone: Facilitating Co-located interactive experiences via a flying screen. In PerDis 2016 - Proceedings of the 5th ACM International Symposium on Pervasive Displays. https://doi.org/10.1145/2914920.2940334

Digital Library

[38]

Stefan Schneegass, Florian Alt, Jürgen Scheible, and Albrecht Schmidt. 2014a. Midair displays: Concept and first experiences with free-floating pervasive displays. In PerDis 2014 - Proceedings: 3rd ACM International Symposium on Pervasive Displays 2014. https://doi.org/10.1145/2611009.2611013

Digital Library

[39]

Stefan Schneegass, Albrecht Schmidt, Florian Alt, Haifeng Su, and Jürgen Scheible. 2014b. Midair displays: Exploring the concept of free-floating public displays. In Conference on Human Factors in Computing Systems - Proceedings. https://doi.org/10.1145/2559206.2581190

Digital Library

[40]

David Sirkin, Brian Mok, Stephen Yang, and Wendy Ju. 2015. Mechanical Ottoman: How Robotic Furniture Offers and Withdraws Support. In ACM/IEEE International Conference on Human-Robot Interaction, Vol. 2015-March. https://doi.org/10.1145/2696454.2696461

Digital Library

[41]

Mauro Avila Soto, Markus Funk, Matthias Hoppe, Robin Boldt, Katrin Wolf, and Niels Henze. 2017. DroneNavigator: Using leashed and free-floating quadcopters to navigate visually impaired travelers. In ASSETS 2017 - Proceedings of the 19th International ACM SIGACCESS Conference on Computers and Accessibility. https://doi.org/10.1145/3132525.3132556

Digital Library

[42]

Juulia T. Suvilehto, Enrico Glerean, Robin I.M. Dunbar, Riitta Hari, and Lauri Nummenmaa. 2015. Topography of social touching depends on emotional bonds between humans. Proceedings of the National Academy of Sciences of the United States of America, Vol. 112, 45 (2015). https://doi.org/10.1073/pnas.1519231112

[43]

Daniel Szafir, Bilge Mutlu, and Terrence Fong. 2014. Communication of intent in assistive free flyers. In Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction. ACM, New York, NY, USA, 358--365. https://doi.org/10.1145/2559636.2559672

Digital Library

[44]

Daniel Szafir, Bilge Mutlu, and Terry Fong. 2015. Communicating Directionality in Flying Robots. In ACM/IEEE International Conference on Human-Robot Interaction, Vol. 2015-March. https://doi.org/10.1145/2696454.2696475

Digital Library

[45]

Tessa Wong. 2015. Drone waiters to plug Singapore's service staff gap. https://www.bbc.com/news/world-asia-31148450

[46]

Marco Tognon, Rachid Alami, and Bruno Siciliano. 2021. Physical Human-Robot Interaction with a Tethered Aerial Vehicle: Application to a Force-Based Human Guiding Problem. IEEE Transactions on Robotics, Vol. 37, 3 (2021). https://doi.org/10.1109/TRO.2020.3038700

[47]

Evgeny Tsykunov, Ruslan Agishev, Roman Ibrahimov, Luiza Labazanova, Taha Moriyama, Hiroyuki Kajimoto, and Dzmitry Tsetserukou. 2019. SwarmCloak: Landing of a swarm of nano-quadrotors on human arms. In SIGGRAPH Asia 2019 Emerging Technologies, SA 2019. https://doi.org/10.1145/3355049.3360542

Digital Library

[48]

Evgeny Tsykunov, Ruslan Agishev, Roman Ibrahimov, Taha Moriyama, Luiza Labazanova, Hiroyuki Kajimoto, and Dzmitry Tsetserukou. 2020. SwarmCloak: Landing of Two Micro-Quadrotors on Human Hands Using Wearable Tactile Interface Driven by Light Intensity. In IEEE Haptics Symposium, HAPTICS, Vol. 2020-March. https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.89.9286fc30

[49]

Evgeny Tsykunov and Dzmitry Tsetserukou. 2019. WiredSwarm: High resolution haptic feedback provided by a swarm of drones to the user's fingers for VR interaction. In Proceedings of the ACM Symposium on Virtual Reality Software and Technology, VRST. https://doi.org/10.1145/3359996.3364789

Digital Library

[50]

Sergej G. Zwaan and Emilia I. Barakova. 2016. Boxing against drones: Drones in sports education. In Proceedings of IDC 2016 - The 15th International Conference on Interaction Design and Children. https://doi.org/10.1145/2930674.2935991

Digital Library

Cited By

Pergantis PDrigas A(2024)The Effect of Drones in the Educational Process: A Systematic ReviewEducation Sciences10.3390/educsci1406066514:6(665)Online publication date: 19-Jun-2024
https://doi.org/10.3390/educsci14060665
Seifi HBhatia AHornbæk K(2024)Charting User Experience in Physical Human–Robot InteractionACM Transactions on Human-Robot Interaction10.1145/365905813:2(1-29)Online publication date: 28-Jun-2024
https://dl.acm.org/doi/10.1145/3659058
Sondoqah MBen Abdesslem FPopova KMcgregor MLa Delfa JGarrett RLampinen AMottola LHöök K(2024)Shaping and Being Shaped by Drones: Programming in Perception-Action LoopsProceedings of the 2024 ACM Designing Interactive Systems Conference10.1145/3643834.3661636(2926-2945)Online publication date: 1-Jul-2024
https://dl.acm.org/doi/10.1145/3643834.3661636
Show More Cited By

Index Terms

A Drone Teacher: Designing Physical Human-Drone Interactions for Movement Instruction
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics

Recommendations

Exploring Human-Drone Collaboration Through Contact Improvisation
HRI '23: Companion of the 2023 ACM/IEEE International Conference on Human-Robot Interaction

In this work we used a dance performance to explore physical human-drone interactions during a collaborative task. We created drone behaviors to allow partnership and increase physicality between the dancer and drone. We found that extended moments of ...
Drone & me: an exploration into natural human-drone interaction
UbiComp '15: Proceedings of the 2015 ACM International Joint Conference on Pervasive and Ubiquitous Computing

Personal drones are becoming popular. It is challenging to design how to interact with these flying robots. We present a Wizard-of-Oz (WoZ) elicitation study that informs how to naturally interact with drones. Results show strong agreement between ...
Drone Near Me: Exploring Touch-Based Human-Drone Interaction

Personal drones are becoming more mainstream and are used for a variety of tasks, such as delivery and photography. The exposed blades in conventional drones raise serious safety concerns. To address this, commercial drones have been moving towards a ...

Comments

Information & Contributors

Information

Published In

cover image ACM Conferences

HRI '23: Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction

March 2023

631 pages

ISBN:9781450399647

DOI:10.1145/3568162

General Chairs:
Ginevra Castellano
Uppsala University, Sweden
,
Laurel Riek
University of California San Diego, USA
,
Program Chairs:
Maya Cakmak
University of Washington, USA
,
Iolanda Leite
KTH Royal Institute of Technology, Sweden

Copyright © 2023 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

Sponsors

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 13 March 2023

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Author Tags

Qualifiers

Research-article

Funding Sources

NSF (National Science Foundation)

Conference

HRI '23

Sponsor:

HRI '23: ACM/IEEE International Conference on Human-Robot Interaction

March 13 - 16, 2023

Stockholm, Sweden

Acceptance Rates

Overall Acceptance Rate 268 of 1,124 submissions, 24%

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

6
Total Citations
View Citations
425
Total Downloads

Downloads (Last 12 months)255
Downloads (Last 6 weeks)25

Reflects downloads up to 30 Aug 2024

Other Metrics

View Author Metrics

Citations

Cited By

Pergantis PDrigas A(2024)The Effect of Drones in the Educational Process: A Systematic ReviewEducation Sciences10.3390/educsci1406066514:6(665)Online publication date: 19-Jun-2024
https://doi.org/10.3390/educsci14060665
Seifi HBhatia AHornbæk K(2024)Charting User Experience in Physical Human–Robot InteractionACM Transactions on Human-Robot Interaction10.1145/365905813:2(1-29)Online publication date: 28-Jun-2024
https://dl.acm.org/doi/10.1145/3659058
Sondoqah MBen Abdesslem FPopova KMcgregor MLa Delfa JGarrett RLampinen AMottola LHöök K(2024)Shaping and Being Shaped by Drones: Programming in Perception-Action LoopsProceedings of the 2024 ACM Designing Interactive Systems Conference10.1145/3643834.3661636(2926-2945)Online publication date: 1-Jul-2024
https://dl.acm.org/doi/10.1145/3643834.3661636
Wang ZWu YYang SChen XRohles BFjeld M(2024)Exploring Intended Functions of Indoor Flying Robots Interacting With Humans in ProximityProceedings of the CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642791(1-16)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3642791
Dong KZhang ZChang XChirarattananon PLC R(2024)Dances with Drones: Spatial Matching and Perceived Agency in Improvised Movements with Drone and Human PartnersProceedings of the CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642345(1-16)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3642345
Balasubramaniam AReidsma DHeylen D(2023)Drone-Driven Running: Exploring the Opportunities for Drones to Support Running Well-being through a Review of Running and Drone Interaction TechnologiesProceedings of the 11th International Conference on Human-Agent Interaction10.1145/3623809.3623831(209-220)Online publication date: 4-Dec-2023
https://dl.acm.org/doi/10.1145/3623809.3623831

View Options

View options

PDF

View or Download as a PDF file.

eReader

View online with eReader.

Get Access

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

Media

Figures

Other

Tables

View Table of Contents