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IEEE International Workshop on Robot and human Communication (ROMAN)

作者： Thomas R Groechel Ipek Goktan Karen Ly Anna-Maria Velentza Maja J Matarić Department of Computer Science Interaction Lab University of Southern California Los Angeles CA USA

Virtual, augmented, and mixed reality for human-robot interaction (VAM-HRI) is a new and rapidly growing field of research. The field of socially assistive robot (SAR) has made impactful advances in educational settings, but has not yet benefited from VAM-HRI advances. We developed MoveToCode - an open-source, embodied (i.e., kinesthetic) learning visual programming language that aims to increase student (ages 8-12) curiosity during programming. MoveToCode uses an augmented reality (AR) autonomous robot tutor named Kuri that models the students’ kinesthetic curiosity and acts to promote their curiosity in programming. MoveToCode design was informed by pilot studies and tested in Los Angeles elementary classrooms $(n =21)$. Results from main study validated our design decisions compared to the pilot study which was conducted in a real elementary school classroom environment $(n =15)$, showing an improvement in perceived robot helpfulness (median $+ \Delta1.25$ out of 5) and number of completed exercises (median $+ \Delta1$, maximum of 11). While no significant changes were found in pre/post student curiosity or intention to program later in life, students wrote more open-ended questions post-study on topics related to robots, programming, research, and if they would like to do the activity again. This work demonstrates the potential of using VAM-HRI in a kinesthetic context for SAR tutors, and highlights the existing conventions and new design considerations for creating AR applications for SAR.

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BallistoBud: Heart Rate Variability Monitoring using Earbud Accelerometry for Stress Assessment 25

BallistoBud: Heart Rate Variability Monitoring using Earbud ...

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2025 CHI Conference on human Factors in Computing Systems, CHI 2025

作者： Islam, Md Saiful Rahman, Md Mahbubur Bin Morshed, Mehrab Lin, David J Li, Yunzhi Zhou, Hao Mendes, Wendy Berry Kuang, Jilong Department of Computer Science University of Rochester RochesterNY United States Digital Health Team Samsung Research America Mountain ViewCA United States School of Electrical and Computer Engineering Georgia Institute of Technology AtlantaGA United States Human-Computer Interaction Institute Carnegie Mellon University PittsburghPA United States The Pennsylvania State University State collegePA United States Psychology Yale University New HavenCT United States

ISBN: (纸本)9798400713941

This paper examines the potential of commercial earbuds for detecting physiological biomarkers like heart rate (HR) and heart rate variability (HRV) for stress assessment. Using accelerometer (IMU) and photoplethysmography (PPG) data from earbuds, we compared these estimates with reference electrocardiogram (ECG) data from 81 healthy participants. We explored using low-power accelerometer sensors for capturing ballistocardiography (BCG) signals. However, BCG signal quality can vary due to individual differences and body motion. Therefore, BCG data quality assessment is critical before extracting any meaningful biomarkers. To address this, we introduced the ECG-gated BCG heatmap, a new method for assessing BCG signal quality. We trained a Random Forest model to identify usable signals, achieving 82% test accuracy. Filtering out unusable signals improved HR/HRV estimation accuracy to levels comparable to PPG-based estimates. Our findings demonstrate the feasibility of accurate physiological monitoring with earbuds, advancing the development of user-friendly wearable health technologies for stress management. © 2025 Copyright held by the owner/author(s).

关键词： Heart

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FRESH-Printing of a Multi-actuator Biodegradable Robot Arm for Articulation and Grasping 12th

FRESH-Printing of a Multi-actuator Biodegradable Robot Arm f...

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Proceedings of the 12th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2023

作者： Williamson, Avery S. Sun, Wenhuan Sukhnandan, Ravesh Coffin, Brian Majidi, Carmel Feinberg, Adam Yao, Lining Webster-Wood, Victoria A. Department of Mechanical Engineering Carnegie Mellon University PittsburghPA15218 United States Department of Biomedical Engineering Carnegie Mellon University PittsburghPA15218 United States Department of Materials Science and Engineering Carnegie Mellon University PittsburghPA15218 United States Human-Computer Interaction Institute School of Computer Science Carnegie Mellon University PittsburghPA15218 United States McGowan Institute for Regenerative Medicine Carnegie Mellon University PittsburghPA15218 United States

ISBN: (纸本)9783031388569

The recent popularity of soft robots for marine applications has established a need for the reliable fabrication of actuators that enable locomotion, articulation, and grasping in aquatic environments. These actuators should also reduce the negative impact on sensitive ecosystems by using biodegradable materials such as organic hydrogels. Freeform Reversible Embedding of Suspended Hydrogels (FRESH) printing can be used for additive manufacturing of small-scale biologically derived, marine-sourced hydraulic actuators by printing thin-wall structures out of sustainably sourced calcium-alginate hydrogels. However, controlling larger alginate robots with complex geometries and multiple actuation mechanisms remains challenging due to the reduced strength of such soft structures. For tethered hydrogel hydraulic robots, a direct interface with fluid lines is necessary for actuation, but the drag forces associated with tethered lines can quickly overcome the actuation force of distal and extremity structures. To overcome this challenge, in this study, we identify printing parameters and interface geometries to allow the working fluid to be channeled to distal components of FRESH-printed alginate robots and demonstrate a proof-of-concept biodegradable robotic arm for small object manipulation and grasping in marine environments. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Biodegradability

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Shared Autonomy for Proximal Teaching 25

Shared Autonomy for Proximal Teaching

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ACM/IEEE International Conference on human-Robot interaction (HRI)

作者： Megha Srivastava Reihaneh Iranmanesh Yuchen Cui Deepak Gopinath Emily Sarah Sumner Andrew Silva Laporsha Dees Guy Rosman Dorsa Sadigh Computer Science Department Stanford University Stanford USA Computer Science Department Amherst College Amherst USA Computer Science Department University of California Los Angeles Los Angeles USA Human Interactive Driving Toyota Research Institute Cambridge USA

ISBN: (数字)9798350378931

ISBN: (纸本)9798350378948

Motor skills education often requires experienced professionals who can provide personalized instruction. Unfortu-nately, the availability of high-quality training can be limited for specialized tasks, such as high performance racing. Several recent works have proposed AI -assistance for motor skills instruction, ranging from rehabilitation to surgical robot tele-operation. However, these works often make simplifying assumptions on the student learning process, and fail to model how a teacher's assistance interacts with different individuals' abilities when determining optimal teaching strategies. Inspired by the idea of scaffolding from educational psychology, we leverage shared autonomy, a framework for combining user inputs with robot autonomy, to aid with curriculum design. Our key insight is that the way a student's behavior improves in the presence of assistance from an autonomous agent can highlight which sub-skills might be most “learnable” for the student, or within their Zone of Proximal Development. We use this to design Z-COACH, a method for using shared autonomy to provide personalized instruction targeting interpretable task sub-skills. In a user study $(\mathrm{n}=50)$ , where we teach high performance racing in a simulated environment of the Thunderhill Raceway Park with the CARLA Autonomous Driving simulator, we show that Z-COACH helps identify which skills each student should first practice, leading to an overall improvement in driving time, behavior, and smoothness. Our work shows that increasingly available semi-autonomous capabilities (e.g. in vehicles, robots) can not only assist human users, but also help teach them.

关键词： Training Motor drives Medical robotics Design methodology human-robot interaction Psychology Motors Distance measurement Haptic interfaces Autonomous vehicles

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ArsenicSkinNet: A Deep Learning Approach for Arsenicosis Skin Lesion Classification 1

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17th International Conference on Multi-disciplinary Trends in Artificial Intelligence, MIWAI 2024

作者： Aakash, Abhinav O’Halloran, Tony Obaido, George Mienye, Ibomoiye Domor Mienye, Ebikella Ogunruku, Oyindamola Omolara Aliyu, Mikail Department of Computer Science KIIT University Bhubaneswar India Department of Computer Science National University of Ireland Galway Ireland Center for Human-Compatible Artificial Intelligence Berkeley Institute for Data Science University of California BerkeleyCA United States Institute of Intelligent Systems University of Johannesburg Johannesburg South Africa Department of Decision Sciences Western Illinois University MacombIL61455 United States School of Public Health University of California BerkeleyCA United States

ISBN: (数字)9789819606924

ISBN: (纸本)9789819606917

In many low-resource settings, the debilitating effects of arsenicosis remain a critical public health concern. This condition leads to serious health problems, including skin lesions, skin cancer, cardiovascular disease, and neurological impairment. Visual inspection is the standard practice for diagnosing arsenicosis;however, it is often subjective and can lead to variability in diagnosis. To address the urgent need for efficient arsenicosis skin detection, we propose ArsenicSkinNet, adapted from the EfficientNet architecture for the automatic classification of arsenicosis skin disease. ArsenicSkinNet is a state-of-the-art technique based on the EfficientNet neural network architecture and transfer learning, known for achieving high performance with fewer computational resources compared to traditional models. Our results show that ArsenicSkinNet achieved a classification accuracy of 99.61% on the arsenicosis skin lesion dataset. Our study demonstrates that deep learning could significantly improve the capacity for early detection and management of arsenicosis, thereby mitigating its impact on affected populations in low-resource settings. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Deep learning

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Simulating the Dilution of Sulfuric Acid on Mixed Reality Platform 8

Simulating the Dilution of Sulfuric Acid on Mixed Reality Pl...

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8th International Conference on Virtual Reality, ICVR 2022

作者： Pan, Zhipeng Miao, Jinda Cai, Ning Luo, Tianren Zhang, Mingmin Pan, Zhigeng Research Institute of Virtual Reality and Intelligent Systems Hangzhou Normal University Hangzhou China Zhejiang University College of Computer Science and Technology Hangzhou China Institute of Software Chinese Academy of Sciences State Key Laboratory of Computer Science and Beijing Key Lab of Human-Computer Interaction Beijing China Nanjing University of Information Science and Technology School of Artificial Intelligence Nanjing China

ISBN: (数字)9781665479110

ISBN: (纸本)9781665479110

Augmented reality technology has been widely used in experimental education. Augmented reality provides virtual-real integration, real-Time interaction and three-dimensional immersion, which provides a new development direction for simulating the teaching environment and promoting learning interaction. We have developed an MR experiment of diluting concentrated sulfuric acid, which helps students learn experimental manipulations and scientific concepts before conducting real chemical experiments. Virtual experiments can avoid the risks of real chemical experiments and reduce the waste of chemical materials. At the same time, we correctly render the occlusion relationship between the hand, the beaker and the virtual liquid, providing a realistic experimental effect. The tracking of multiple cameras allows students to interact more naturally. We compared the availability and students' attitudes of three virtual experiments about diluting concentrated sulfuric acid. The results show that the usability of the MR experimental system reaches the level of user satisfaction. The realistic visual effects and natural interaction method of the MR experiment have been recognized by the students. © 2022 IEEE.

关键词： Students

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A Toolbox of Feminist Wonder: Theories and methods that can make a difference 26

A Toolbox of Feminist Wonder: Theories and methods that can ...

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26th ACM Conference on computer-Supported Cooperative Work and Social Computing, CSCW 2023

作者： Hansson, Karin Bardzell, Shaowen Bhandari, Aparajita Boulicault, Marion Doyle, Dylan Thomas Erete, Sheena Cerratto Pargman, Teresa Lazem, Shaimaa Muller, Michael Normark, Maria Petterson, Adrian Rosén, Anton Poikolainen Taylor, Alex S. Thomas, Jakita O. Watson, Julia Södertörn University The School of Natural Sciences Technology and Environmental Studies Sweden Georgia Institute of Technology The School of Interactive Computing United States Cornell University Department of Communication United States University of Edinburgh Department of Philosophy United States University of Colorado Boulder Department of Information Science United States University of Maryland College of Information United States Stockholm University The Department of Computer and Systems Sciences Sweden City for Scientific Research and Technological Applications The Informatics Research Institute Egypt Ibm Research Human Centered Ai United States Uppsala University Department of Informatics and Media Sweden University of Toronto Faculty of Information Canada Aalto University The School of Arts Design and Architecture Finland City University of London The Centre for Human Computer Interaction Design United Kingdom Auburn University Department of Computer Science and Software Engineering United States University of Toronto Department of Computer Science Canada

ISBN: (纸本)9798400701290

This one-day hybrid workshop builds on previous feminist CSCW workshops to explore feminist theoretical and methodological approaches that have provided us with useful tools to see things differently and make space for change. Since its inception over a decade ago, feminist HCI has progressed from the margins to mainstream HCI, with numerous references in the literature. Feminist HCI has also evolved to incorporate other critical HCI practices such as Queer HCI, participatory design, and speculative design. While feminist approaches have grown in popularity and become mainstream, it is getting more difficult to distinguish the feminist emancipatory core from other attempts of developing and improving society in various ways. In this workshop, we therefore want to revisit our feminist roots, where theory is a liberatory and creative practice, motivated by affect, curiosity, and wonder. From this standpoint, we consider which of our feminist tools can make a significant difference today, in a highly datafied world. The goal of this workshop is to;1) create an inventory of feminist theories and concepts that have had an impact on our work as designers, educators, researchers, and activists;2) develop a feminist toolbox for the CSCW community to strengthen our feminist literacy. © 2023 Owner/Author.

关键词： Computation theory

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Rethinking Eye-blink: Assessing Task Difficulty through Physiological Representation of Spontaneous Blinking 21

Rethinking Eye-blink: Assessing Task Difficulty through Phys...

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2021 CHI Conference on human Factors in Computing Systems: Making Waves, Combining Strengths, CHI 2021

作者： Cho, Youngjun UCL Interaction Centre & Department of Computer Science University College London United Kingdom

ISBN: (纸本)9781450380966

Continuous assessment of task difficulty and mental workload is essential in improving the usability and accessibility of interactive systems. Eye tracking data has often been investigated to achieve this ability, with reports on the limited role of standard blink metrics. Here, we propose a new approach to the analysis of eye-blink responses for automated estimation of task difficulty. The core module is a time-frequency representation of eye-blink, which aims to capture the richness of information reflected on blinking. In our first study, we show that this method significantly improves the sensitivity to task difficulty. We then demonstrate how to form a framework where the represented patterns are analyzed with multi-dimensional Long Short-Term Memory recurrent neural networks for their non-linear mapping onto difficulty-related parameters. This framework outperformed other methods that used hand-engineered features. This approach works with any built-in camera, without requiring specialized devices. We conclude by discussing how Rethinking Eye-blink can benefit real-world applications. © 2021 ACM.

关键词： Eye tracking

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Analyzing Midair Object Pointing Mappings for Smart Display Input

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Proceedings of the ACM on human-computer interaction 2021年第ISS期5卷 1–18页

作者： Zhang, Futian Mizobuchi, Sachi Zhou, Wei Lank, Edward Cheriton School of Computer Science University of Waterloo WaterlooONN2L 3G1 Canada Human-Machine Interaction Lab Huawei TorontoON Canada

One common task when controlling smart displays is the manipulation of menu items. Given current examples of smart displays that support distant bare hand control, in this paper we explore menu item selection tasks with three different mappings of barehand movement to target selection. Through a series of experiments, we demonstrate that Positional mapping is faster than other mappings when the target is visible but requires many clutches in large targeting spaces. Rate-based mapping is, in contrast, preferred by participants due to its perceived lower effort, despite being slightly harder to learn initially. Tradeoffs in the design of target selection in smart tv displays are discussed. © 2021 ACM.

关键词： Mapping

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Bridging Borders, Breaking Biases: Envisioning Technologies to Support North Korean Defectors in South Korea 25

Bridging Borders, Breaking Biases: Envisioning Technologies ...

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2025 CHI Conference on human Factors in Computing Systems, CHI 2025

作者： Noh, Hayoun Jo, Hyunah Wang, Ge Van Kleek, Max Kang, Younah Department of Computer Science University of Oxford Oxford United Kingdom Yonsei University Seoul Korea Republic of Stanford University StanfordCA United States Information and Interaction Design Yonsei University Seoul Korea Republic of

ISBN: (纸本)9798400713941

North Korean defectors (NKDs) face significant challenges when transitioning to South Korean society. Leaving their homes permanently and adapting to a new, digitally connected environment for the first time presents difficulties, compounded by the pervasive stigma associated with their identities. Although technology alone cannot solve these issues, it can play a role in easing their transition. In this study, we conducted eight speculative co-creation sessions with 22 NKDs to identify their main challenges and envision potential technological interventions. We propose conceptualization of thirteen technologies aimed at addressing key issues NKDs face related to identity stigma, disconnection from their past, and challenges of adapting to a highly digital society. Through this empirical research on underrepresented populations undergoing significant life transitions, we provide insights into how future technologies can support other marginalized individuals as they navigate pervasive stigma and establish new lives in a digital society. © 2025 Copyright held by the owner/author(s).

关键词： Envisioning Technologies

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