@article{Pascher.2024adaptix,

title = {AdaptiX – A Transitional XR Framework for Development and Evaluation of Shared Control Applications in Assistive Robotics},

author = {Max Pascher and Felix Ferdinand Goldau and Kirill Kronhardt and Udo Frese and Jens Gerken},

doi = {10.1145/3660243},

issn = {2573-0142},

year  = {2024},

date = {2024-06-17},

urldate = {2024-06-01},

journal = {Proc. ACM Hum.-Comput. Interact.},

volume = {8},

number = {EICS},

publisher = {Association for Computing Machinery},

address = {New York, NY, USA},

abstract = {With the ongoing efforts to empower people with mobility impairments and the increase in technological acceptance by the general public, assistive technologies, such as collaborative robotic arms, are gaining popularity. Yet, their widespread success is limited by usability issues, specifically the disparity between user input and software control along the autonomy continuum. To address this, shared control concepts provide opportunities to combine the targeted increase of user autonomy with a certain level of computer assistance. This paper presents the free and open-source AdaptiX XR framework for developing and evaluating shared control applications in a high-resolution simulation environment. The initial framework consists of a simulated robotic arm with an example scenario in Virtual Reality (VR), multiple standard control interfaces, and a specialized recording/replay system. AdaptiX can easily be extended for specific research needs, allowing Human-Robot Interaction (HRI) researchers to rapidly design and test novel interaction methods, intervention strategies, and multi-modal feedback techniques, without requiring an actual physical robotic arm during the early phases of ideation, prototyping, and evaluation. Also, a Robot Operating System (ROS) integration enables the controlling of a real robotic arm in a PhysicalTwin approach without any simulation-reality gap. Here, we review the capabilities and limitations of AdaptiX in detail and present three bodies of research based on the framework. AdaptiX can be accessed at https://adaptix.robot-research.de.},

keywords = {assistive robotics, augmented reality, human–robot interaction, mixed reality, shared user control, virtual reality, visual cues},

pubstate = {published},

tppubtype = {article}

}

@inproceedings{Pascher2023d,

title = {In Time and Space: Towards Usable Adaptive Control for Assistive Robotic Arms},

author = {Max Pascher and Kirill Kronhardt and Felix Ferdinand Goldau and Udo Frese and Jens Gerken},

url = {https://hci.w-hs.de/pub_in_time_and_space__towards_usable_adaptive_control_for_assistive_robotic_arms/, PDF Download},

doi = {10.1109/RO-MAN57019.2023.10309381},

year  = {2023},

date = {2023-11-13},

urldate = {2023-08-28},

booktitle = { RO-MAN 2023 - IEEE International Conference on Robot and Human Interactive Communication},

publisher = {IEEE},

abstract = {Robotic solutions, in particular robotic arms, are becoming more frequently deployed for close collaboration with humans, for example in manufacturing or domestic care environments. These robotic arms require the user to control several Degrees-of-Freedom (DoFs) to perform tasks, primarily involving grasping and manipulating objects. Standard input devices predominantly have two DoFs, requiring time-consuming and cognitively demanding mode switches to select individual DoFs. Contemporary Adaptive DoF Mapping Controls (ADMCs) have shown to decrease the necessary number of mode switches but were up to now not able to significantly reduce the perceived workload. Users still bear the mental workload of incorporating abstract mode switching into their workflow. We address this by providing feed-forward multimodal feedback using updated recommendations of ADMC, allowing users to visually compare the current and the suggested mapping in real-time. We contrast the effectiveness of two new approaches that a) continuously recommend updated DoF combinations or b) use discrete thresholds between current robot movements and new recommendations. Both are compared in a Virtual Reality (VR) in-person study against a classic control method. Significant results for lowered task completion time, fewer mode switches, and reduced perceived workload conclusively establish that in combination with feedforward, ADMC methods can indeed outperform classic mode switching. A lack of apparent quantitative differences between Continuous and Threshold reveals the importance of user-centered customization options. Including these implications in the development process will improve usability, which is essential for successfully implementing robotic technologies with high user acceptance. },

keywords = {assistive robotics, cooperation and collaboration in human-robot teams, degrees of autonomy and teleoperation},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Pascher2023c,

title = {Exploring AI-enhanced Shared Control for an Assistive Robotic Arm},

author = {Max Pascher and Kirill Kronhardt and Jan Freienstein and Jens Gerken},

url = {https://hci.w-hs.de/pub_ai_supported_controlling_of_an_assistive_robotic_arm/, PDF Download},

year  = {2023},

date = {2023-06-27},

booktitle = {Workshop on Engineering Interactive Systems Embedding AI Technologies (EIS-embedding-AI) at EICS'23},

abstract = {Assistive technologies and in particular assistive robotic arms have the potential to enable people with motor impairments to live a self-determined life. More and more of these systems have become available for end users in recent years, such as the Kinova Jaco robotic arm. However, they mostly require complex manual control, which can overwhelm users. As a result, researchers have explored ways to let such robots act autonomously. However, at least for this specific group of users, such an approach has shown to be futile. Here, users want to stay in control to achieve a higher level of personal autonomy, to which an autonomous robot runs counter. In our research, we explore how Artifical Intelligence (AI) can be integrated into a shared control paradigm. In particular, we focus on the consequential requirements for the interface between human and robot and how we can keep humans in the loop while still significantly reducing the mental load and required motor skills. },

keywords = {assistive technologies, human-robot interaction, shared control},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Pascher2023,

title = {How to Communicate Robot Motion Intent: A Scoping Review},

author = {Max Pascher and Uwe Gruenefeld and Stefan Schneegass and Jens Gerken},

url = {https://hci.w-hs.de/pub_how_to_communicate_robot-motion_intent_-a-scoping-review_v2-pdf/, PDF Download},

doi = {10.1145/3544548.3580857},

year  = {2023},

date = {2023-04-10},

urldate = {2023-04-10},

booktitle = {Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems (CHI ’23)},

publisher = {ACM},

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.},

keywords = {cobot, drone, intent, motion, robot, survey},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{nokey,

title = {HaptiX: Vibrotactile Haptic Feedback for Communication of 3D Directional Cues },

author = {Max Pascher and Til Franzen and Kirill Kronhardt and Uwe Gruenefeld and Stefan Schneegass and Jens Gerken},

url = {https://hci.w-hs.de/pub_haptix_vibrotactile_haptic_feedback_for_communication_of_3d_directional_cues/, PDF Download},

doi = {10.1145/3544549.3585601},

year  = {2023},

date = {2023-04-09},

urldate = {2023-04-09},

booktitle = {Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems - Extended Abstract (CHI ’23)},

organization = {ACM},

abstract = {In Human-Computer-Interaction, vibrotactile haptic feedback offers the advantage of being independent of any visual perception of the environment. Most importantly, the user's field of view is not obscured by user interface elements, and the visual sense is not unnecessarily strained. This is especially advantageous when the visual channel is already busy, or the visual sense is limited. We developed three design variants based on different vibrotactile illusions to communicate 3D directional cues. In particular, we explored two variants based on the vibrotactile illusion of the cutaneous rabbit and one based on apparent vibrotactile motion. To communicate gradient information, we combined these with pulse-based and intensity-based mapping. A subsequent study showed that the pulse-based variants based on the vibrotactile illusion of the cutaneous rabbit are suitable for communicating both directional and gradient characteristics. The results further show that a representation of 3D directions via vibrations can be effective and beneficial.},

keywords = {directional cues, haptic feedback, vibrotactile feedback},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Pascher2023b,

title = {PhysicalTwin: Mixed Reality Interaction Environment for AI-supported Assistive Robots},

author = {Max Pascher and Kirill Kronhardt and Jens Gerken},

url = {https://hci.w-hs.de/pub_physical_twin/, PDF Download},

year  = {2023},

date = {2023-03-13},

urldate = {2023-03-13},

booktitle = {VAM-HRI '23: Workshop on Virtual, Augmented, and Mixed-Reality for Human-Robot Interactions at the ACM/IEEE International Conference on Human-Robot Interaction},

address = {Stockholm, Sweden},

abstract = {Robotic arms belong to a group of innovative and powerful assistive technologies which can support people with motor impairments. These assistive devices allow people to perform  Activities of Daily Living (ADLs) involving grasping and manipulating objects in their environment without caregivers' support. However, controlling a robotic arm can be a challenging and time-consuming task. Further, assistive robot technologies' often bulky, expensive, and complex nature makes developing and testing new interaction and control options a laborious and potentially precarious endeavor. To address this, we designed and developed PhysicalTwin - a Mixed Reality interaction environment for AI-supported assistive robots. PhysicalTwin contains a virtual Kinova Jaco assistive robotic arm, which can be controlled via different AI-supported control methods. The virtual Kinova Jaco can also be mirrored directly via Robot Operating System (ROS) to its real-world version for direct control. The entire MR continuum can be used to interact with the robot and receive visual feedback, resulting in a fully customizable environment for the user.},

keywords = {assistive robotics, human-robot interaction, mixed reality, shared user control, visual cues},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Kronhardt2023,

title = {Understanding Shared Control for Assistive Robotic Arms},

author = {Kirill Kronhardt and Max Pascher and Jens Gerken},

url = {https://hci.w-hs.de/pub_understanding_shared_control_for_assistive_robotic_arms/, PDF Download},

doi = {10.48550/arXiv.2303.01993},

year  = {2023},

date = {2023-03-12},

urldate = {2023-03-13},

booktitle = {VAT-HRI '23: Workshop on Variable Autonomy for Human-Robot Teaming at the ACM/IEEE International Conference on Human-Robot Interaction},

address = {Stockholm, Sweden},

abstract = {Living a self-determined life independent of human caregivers or fully autonomous robots is a crucial factor for human dignity and the preservation of self-worth for people with motor impairments. Assistive robotic solutions – particularly robotic arms – are frequently deployed in domestic care, empowering people with motor impairments in performing Activities of Daily Living (ADLs) independently. However, while assistive robotic arms can help them perform ADLs, currently available controls are highly complex and time-consuming due to the need to control multiple Degrees-of-Freedom (DoFs) at once and necessary mode-switches. This work provides an overview of shared control approaches for assistive robotic arms, which aim to improve their ease of use for people with motor impairments. We identify three main takeaways for future research: Less is More, Pick-and-Place Matters, and Communicating Intent.},

keywords = {assistive robotics, human-robot interaction, shared control},

pubstate = {published},

tppubtype = {inproceedings}

}

@misc{Baumeister2022,

title = {AI for Simplifying the Use of an Assistive Robotic Arm for People with severe Body Impairments},

author = {Annalies Baumeister and Max Pascher and Yashaswini Shivashankar and Felix Ferdinand Goldau and Udo Frese and Jens Gerken and Elizaveta Gardo and Barbara Klein and Patrizia Tolle},

editor = {Proceedings of the13th World Conference of Gerontechnology (ISG 2022)},

url = {https://hci.w-hs.de/pub_isg2022_dof-adaptiv/, PDF Download},

doi = {http://dx.doi.org/10.13140/RG.2.2.13860.35208/3},

year  = {2022},

date = {2022-10-24},

urldate = {2022-10-24},

address = {Daegu, Korea},

abstract = {Assistive robotic arms, e.g., the Kinova JACO, aim to assist people with upper-body disabilities in everyday tasks and thus increase their autonomy (Brose et al. 2010; Beaudoin et al.2019). A long-term survey with seven JACO users showed that they were satisfied with the technology and that JACO had a positive psychosocial impact. Still, the users had some difficulties performing daily activities with the arm, e.g., it took them some time to finish a task (Beaudoin et al. 2019). Herlant et al. claim that the main problem for a user is that mode switching is time-consuming and tiring (Herlant et al. 2017). To tackle this issue, deep neural network(s) will be developed to facilitate the use of the robotic arm. A sensor-based situation recognition will be combined with an algorithm-based control to form an adaptive AI-based control system. The project focuses on three main aspects: 1) A neural network providing suggestions for movement options based on training data generated in virtual reality. 2) Exploring data glasses as a possibility for displaying feedback in a user-centered design process. 3) Elicitation of requirements, risks and ethical system evaluation using a participatory approach.},

keywords = {adaptive AI-based control, assistive robotic arm, degrees of freedom, human-robot collaboration, quality of live},

pubstate = {published},

tppubtype = {presentation}

}

@phdthesis{Arévalo-Arboleda2022b,

title = {Towards a Human-Robot Interaction Design for People with Motor Disabilities by Enhancing the Visual Space},

author = {Stephanie Arévalo-Arboleda},

editor = {Universität Duisburg-Essen},

doi = {10.17185/duepublico/76485},

year  = {2022},

date = {2022-09-08},

abstract = {People with motor disabilities experience several physical limitations that affect not only their activities of daily living but their integration into the labor market. Human-Robot Collaboration presents opportunities to enhance human capabilities and counters physical limitations through different interaction paradigms and technological devices. However, little is known about the needs, expectations, and perspectives of people with motor disabilities within a human-robot collaborative work environment.



In this thesis, we aim to shed light on the perspectives of people with motor disabilities when designing a teleoperation concept that could enable them to perform manipulation tasks in a manufacturing environment. First, we provide the concerns of different people with motor disabilities, social workers, and caregivers about including a collaborative robotic arm in assembly lines. Second, we identify specific opportunities and potential challenges in hands-free interaction design for robot control. Third, we present a multimodal hands-free interaction for robot control that uses augmented reality to display the user interface. On top of that, we propose a feedback concept that provides augmented visual cues to aid robot operators in gaining a better perception of the location of the objects in the workspace and improve performance in pick-and-place tasks.



We present our contributions through six studies with people with and without disabilities, and the empirical findings are reported in eight publications.  Publications I, II, and IV aim to extend the research efforts of designing human-robot collaborative spaces for people with motor disabilities. Publication III sheds a light on the reasoning for hands-free modality choices and Publication VIII evaluates a hands-free teleoperation concept with an individual with motor disabilities. Publications V - VIII explore augmented reality to present a user interface that facilitates hands-free robot control and uses augmented visual cues to address depth perception issues improving thus performance in pick-and-place tasks.



Our findings can be summarized as follows. We point out concerns grouped into three themes: the robot fitting in the social and organizational structure, human-robot synergy, and human-robot problem management. Additionally, we provide five lessons learned derived from the pragmatic use of participatory design for people with motor disabilities, (1) approach participants through different channels and allow for multidisciplinarity in the research team, (2) consider the relationship between social dependencies in the selection of a participatory design technique, (3) plan for early exposure to robots and other technology, (4) take into account all opinions in design sessions, and (5) acknowledge that ethical implications go beyond consent. Also, we introduce findings about the nature of modality choices in hands-free interaction, which point to the user’s own abilities and individual experiences as determining factors in interaction evaluation. Finally, we present and evaluate a possible hands-free multimodal interaction design for robot control using augmented reality and augmented visual cues. We propose that augmented visual cues can improve depth perception and performance in pick-and-place tasks. Thus, we evaluated our designs of visual cues by taking into account depth-related variables (target’s distance and pose) and subjective certainty. Our results highlight that shorter distances and a clear pose lead to higher success, faster grasping time, and higher certainty. In addition, we re-designed our augmented visual cues considering visualization techniques and monocular cues that could be used to enhance the visual space for robot teleoperation. Our results demonstrate that our augmented visual cues can assist robot control and increase accuracy in pick-and-place tasks.



In conclusion, our findings on people with motor disabilities in a human-robot collaborative workplace, a hands-free multimodal interaction design, and augmented visual cues can extend the knowledge about using mixed reality in human-robot interaction. Further,  these contributions have the potential to promote future research to design inclusive environments for people with disabilities.},

keywords = {assistive robotics, augmented reality},

pubstate = {published},

tppubtype = {phdthesis}

}

@inproceedings{Pascher2022b,

title = {Adaptive DoF: Concepts to Visualize AI-generated Movements in Human-Robot Collaboration},

author = {Max Pascher and Kirill Kronhardt and Til Franzen and Jens Gerken},

url = {https://hci.w-hs.de/pub_adaptive-dof-concepts-to-visualize-ai-generated-movements-in-human-robot-collaboration/, PDF Download},

doi = {10.1145/3531073.3534479},

isbn = {978-1-4503-9719-3/22/06},

year  = {2022},

date = {2022-06-06},

urldate = {2022-06-06},

booktitle = {Proceedings of the 2022 International Conference on Advanced Visual Interfaces (AVI 2022)},

publisher = {ACM},

address = {NewYork, NY, USA},

abstract = {Nowadays, robots collaborate closely with humans in a growing number of areas. Enabled by lightweight materials and safety sensors , these cobots are gaining increasing popularity in domestic care, supporting people with physical impairments in their everyday lives. However, when cobots perform actions autonomously, it remains challenging for human collaborators to understand and predict their behavior. This, however, is crucial for achieving trust and user acceptance. One significant aspect of predicting cobot behavior is understanding their motion intent and comprehending how they "think" about their actions. We work on solutions that communicate the cobots AI-generated motion intent to a human collaborator. Effective communication enables users to proceed with the most suitable option. We present a design exploration with different visualization techniques to optimize this user understanding, ideally resulting in increased safety and end-user acceptance.},

keywords = {cobot, human-robot collaboration, intention feedback, neural network, visualization techniques},

pubstate = {published},

tppubtype = {inproceedings}

}

@article{Butz2022,

title = {A Taxonomy for Augmented and Mixed Reality Applications to Support Physical Exercises in Medical Rehabilitation—A Literature Review},

author = {Benjamin Butz and Alexander Jussen and Asma Rafi and Gregor Lux and Jens Gerken},

url = {https://hci.w-hs.de/pub_healthcare-10-00646-v2/, PDF Download},

doi = {10.3390/healthcare10040646},

issn = {2227-9032},

year  = {2022},

date = {2022-03-30},

journal = { Healthcare},

volume = {10},

number = {4},

pages = {646},

abstract = {In the past 20 years, a vast amount of research has shown that Augmented and Mixed Reality applications can support physical exercises in medical rehabilitation. In this paper, we contribute a taxonomy, providing an overview of the current state of research in this area. It is based on a comprehensive literature review conducted on the five databases Web of Science, ScienceDirect, PubMed, IEEE Xplore, and ACM up to July 2021. Out of 776 identified references, a final selection was made of 91 papers discussing the usage of visual stimuli delivered by AR/MR or similar technology to enhance the performance of physical exercises in medical rehabilitation. The taxonomy bridges the gap between a medical perspective (Patient Type, Medical Purpose) and the Interaction Design, focusing on Output Technologies and Visual Guidance. Most approaches aim to improve autonomy in the absence of a therapist and increase motivation to improve adherence. Technology is still focused on screen-based approaches, while the deeper analysis of Visual Guidance revealed 13 distinct, reoccurring abstract types of elements. Based on the analysis, implications and research opportunities are presented to guide future work},

keywords = {augmented reality, exercise, extended reality, medical, mixed reality, rehabilitation, therapy, virtual reality, visual cues, visualization},

pubstate = {published},

tppubtype = {article}

}

@article{Kronhardt2022,

title = {Adapt or Perish? Exploring the Effectiveness of Adaptive DoF Control Interaction Methods for Assistive Robot Arms},

author = {Kirill Kronhardt and Stephan Rübner and Max Pascher and Felix Goldau and Udo Frese and Jens Gerken},

url = {https://hci.w-hs.de/pub_technologies-10-00030/, PDF Download

https://youtu.be/AEK4AOQKz1k},

doi = {10.3390/technologies10010030},

issn = {2227-7080},

year  = {2022},

date = {2022-02-14},

urldate = {2022-02-14},

journal = {Technologies},

volume = {10},

number = {1},

abstract = {Robot arms are one of many assistive technologies used by people with motor impairments.Assistive robot arms can allow people to perform activities of daily living (ADL) involving graspingand manipulating objects in their environment without the assistance of caregivers. Suitable inputdevices (e.g., joysticks) mostly have two Degrees of Freedom (DoF), while most assistive robot armshave six or more.  This results in time-consuming and cognitively demanding mode switches tochange the mapping of DoFs to control the robot. One option to decrease the difficulty of controllinga high-DoF assistive robot arm using a low-DoF input device is to assign different combinations ofmovement-DoFs to the device’s input DoFs depending on the current situation (adaptive control). Toexplore this method of control, we designed two adaptive control methods for a realistic virtual 3Denvironment. We evaluated our methods against a commonly used non-adaptive control method thatrequires the user to switch controls manually. This was conducted in a simulated remote study thatused Virtual Reality and involved 39 non-disabled participants. Our results show that the numberof mode switches necessary to complete a simple pick-and-place task decreases significantly whenusing an adaptive control type. In contrast, the task completion time and workload stay the same. Athematic analysis of qualitative feedback of our participants suggests that a longer period of trainingcould further improve the performance of adaptive control methods.},

keywords = {assistive robotics, augmented reality, human-robot interaction, shared user control, virtual reality, visual cues},

pubstate = {published},

tppubtype = {article}

}

@article{Pascher2022,

title = {My Caregiver the Cobot: Comparing Visualization Techniques to Effectively Communicate Cobot Perception to People with Physical Impairments},

author = {Max Pascher and Kirill Kronhardt and Til Franzen and Uwe Gruenefeld and Stefan Schneegass and Jens Gerken},

url = {https://hci.w-hs.de/pub_sensors-22-00755-v2/, PDF Download},

doi = {10.3390/s22030755},

issn = {1424-8220},

year  = {2022},

date = {2022-01-19},

journal = {Sensors},

volume = {22},

number = {3},

abstract = {Nowadays, robots are found in a growing number of areas where they collaborate closely with humans. Enabled by lightweight materials and safety sensors, these cobots increasingly gain popularity in domestic care, where they support people with physical impairments in their everyday lives. However, when cobots perform actions autonomously, it remains challenging for human collaborators to understand and predict their behavior, which is crucial for achieving trust and user acceptance. One significant aspect of predicting cobot behavior is understanding their perception and comprehending how they "see" the world. To tackle this challenge, we compared three different visualization techniques for Spatial Augmented Reality. All of these communicate cobot perception by visually indicating which objects in the cobot's surrounding have been identified by their sensors. We compared the well-established visualizations Wedge and Halo against our proposed visualization Line in a remote user study with participants suffering from physical impairments. In a second remote study, we validated these findings with a broader non-specific user base. Our findings show that Line, a lower complexity visualization, results in significantly faster reaction times compared to Halo, and lower task load compared to both Wedge and Halo. Overall, users prefer Line as a more straightforward visualization. In Spatial Augmented Reality, with its known disadvantage of limited projection area size, established off-screen visualizations are not effective in communicating cobot perception and Line presents an easy-to-understand alternative.},

keywords = {cobot, human-robot collaboration, projection, virtual reality, visualization techniques},

pubstate = {published},

tppubtype = {article}

}

@article{Arévalo-Arboleda2022,

title = {Does One Size Fit All? A Case Study to Discuss Findings of an Augmented Hands-Free Robot Teleoperation Concept for People with and without Motor Disabilities},

author = {Stephanie Arévalo-Arboleda and Marvin Becker and Jens Gerken},

editor = {Fillia Makedon},

url = {https://hci.w-hs.de/pub_technologies-10-00004-v2/, PDF Download},

doi = {10.3390/technologies10010004},

issn = {2227-7080},

year  = {2022},

date = {2022-01-06},

issuetitle = {Selected Papers from the PETRA Conference Series},

journal = {Technologies},

volume = {10},

number = {1},

publisher = {MDPI},

abstract = {Hands-free robot teleoperation and augmented reality have the potential to create an inclusive environment for people with motor disabilities. It may allow them to teleoperate robotic arms to manipulate objects. However, the experiences evoked by the same teleoperation concept and augmented reality can vary significantly for people with motor disabilities compared to those without disabilities. In this paper, we report the experiences of Miss L., a person with multiple sclerosis, when teleoperating a robotic arm in a hands-free multimodal manner using a virtual menu and visual hints presented through the Microsoft HoloLens 2. We discuss our findings and compare her experiences to those of people without disabilities using the same teleoperation concept. Additionally, we present three learning points from comparing these experiences: a re-evaluation of the metrics used to measure performance, being aware of the bias, and considering variability in abilities, which evokes different experiences. We consider these learning points can be extrapolated to carrying human-robot interaction evaluations with mixed groups of participants with and without disabilities.},

keywords = {augmented reality, case study, hands-free interaction, learning points, people with motor disabilities, robot teleoperation},

pubstate = {published},

tppubtype = {article}

}

@inproceedings{Baumeister2021,

title = {The Importance of Participatory Design for the Development of Assistive Robotic Arms.  Initial Approaches and Experiences in the Research Projects MobILe and DoF-Adaptiv},

author = {Annalies Baumeister and Elizaveta Gardo and Patrizia Tolle and Barbara Klein and Max Pascher and Jens Gerken and Felix Goldau and Yashaswini Shivashankar and Udo Frese},

url = {https://hci.w-hs.de/pub_the_importance_of_participatory_design_for_the_development_of_assistive_robotic_arms_initial_approaches_and_experiences_in_the_research_projects_mobile_and_dof-adaptiv/, PDF Download},

doi = {https://doi.org/10.48718/8p7x-cw14},

year  = {2021},

date = {2021-10-08},

booktitle = {Proceedings of Connected Living : international and interdisciplinary conference (2021)},

address = {Frankfurt am Main},

abstract = {This Article introduces two research projects towards assistive robotic arms for people with severe body impairments. Both projects aim to develop new control and interaction designs to promote accessibility and a better performance for people with functional losses in all four extremities, e.g. due to quadriplegic or multiple sclerosis. The project MobILe concentrates on using a robotic arm as drinking aid and controlling it with smart glasses, eye-tracking and augmented reality. A user oriented development process with participatory methods were pursued which brought new knowledge about the life and care situation of the future target group and the requirements a robotic drinking aid needs to meet. As a consequence the new project DoF-Adaptiv follows an even more participatory approach, including the future target group, their family and professional caregivers from the beginning into decision making and development processes within the project. DoF-Adaptiv aims to simplify the control modalities of assistive robotic arms to enhance the usability of the robotic arm for activities of daily living. lo decide on exemplary activities, like eating or open a door, the future target group, their family and professional caregivers are included in the decision making process. Furthermore all relevant stakeholders will be included in the investigation of ethical, legal and social implications as well as the identification of potential risks. This article will show the importance of the participatory design for the development and research process in MobILe and DoF-Adaptiv.},

keywords = {assistive robotics, human-centered design, participatory design, risk management, user acceptance},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Borsum2021,

title = {Stay on Course in VR: Comparing the Precision of Movement betweenGamepad, Armswinger, and Treadmill},

author = {Florian Borsum and Max Pascher and Jonas Auda and Stefan Schneegass and Gregor Lux and Jens Gerken},

url = {https://hci.w-hs.de/pub_kurs_halten_in_vr__vergleich_der_bewegungspr_zision_von_gamepad__armswinger_und_laufstall/, PDF Download},

doi = {10.1145/3473856.3473880},

isbn = {978-1-4503-8645-6/21/09},

year  = {2021},

date = {2021-09-05},

booktitle = {Mensch und Computer 2021 - Tagungsband},

publisher = {Gesellschaft für Informatik e.V.},

address = {Bonn},

abstract = {In diesem Beitrag wird untersucht, inwieweit verschiedene Formen von Fortbewegungstechniken in Virtual Reality UmgebungenEinfluss auf die Präzision bei der Interaktion haben. Dabei wurden insgesamt drei Techniken untersucht: Zwei der Techniken integrierendabei eine körperliche Aktivität, um einen hohen Grad an Realismus in der Bewegung zu erzeugen (Armswinger, Laufstall). Alsdritte Technik wurde ein Gamepad als Baseline herangezogen. In einer Studie mit 18 Proband:innen wurde die Präzision dieser dreiFortbewegungstechniken über sechs unterschiedliche Hindernisse in einem VR-Parcours untersucht. Die Ergebnisse zeigen, dassfür einzelne Hindernisse, die zum einen eine Kombination aus Vorwärts- und Seitwärtsbewegung erfordern (Slalom, Klippe) sowieauf Geschwindigkeit abzielen (Schiene), der Laufstall eine signifikant präzisere Steuerung ermöglicht als der Armswinger. Auf dengesamten Parcours gesehen ist jedoch kein Eingabegerät signifikant präziser als ein anderes. Die Benutzung des Laufstalls benötigtzudem signifikant mehr Zeit als Gamepad und Armswinger. Ebenso zeigte sich, dass das Ziel, eine reale Laufbewegung 1:1 abzubilden,auch mit einem Laufstall nach wie vor nicht erreicht wird, die Bewegung aber dennoch als intuitiv und immersiv wahrgenommenwird.},

keywords = {armswinger, gamepad, locomotion, precision, treadmill, virtual reality},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Pascher2021,

title = {Recommendations for the Development of a Robotic Drinking and Eating Aid - An Ethnographic Study },

author = {Max Pascher and Annalies Baumeister and Stefan Schneegass and Barbara Klein and Jens Gerken},

editor = {Carmelo Ardito, Rosa Lanzilotti, Alessio Malizia, Helen Petrie, Antonio Piccinno, Giuseppe Desolda, Kori Inkpen},

url = {https://hci.w-hs.de/pub_recommendations_for_the_development_of_a_robotic_drinking_and_eating_aid___an_ethnographic_study/, PDF Download},

doi = {10.1007/978-3-030-85623-6_21},

isbn = {978-3-030-85623-6},

year  = {2021},

date = {2021-09-01},

urldate = {2021-09-01},

booktitle = {Human-Computer Interaction – INTERACT 2021},

publisher = {Springer, Cham},

abstract = {Being able to live independently and self-determined in one's own home is a crucial factor for human dignity and preservation of self-worth. For people with severe physical impairments who cannot use their limbs for every day tasks, living in their own home is only possible with assistance from others. The inability to move arms and hands makes it hard to take care of oneself, e. g. drinking and eating independently. In this paper, we investigate how 15 participants with disabilities consume food and drinks. We report on interviews, participatory observations, and analyzed the aids they currently use. Based on our findings, we derive a set of recommendations that supports researchers and practitioners in designing future robotic drinking and eating aids for people with disabilities.},

keywords = {assisted living technologies, human-centered computing, meal assistance, participation design, people with disabilities, robot assistive drinking, robot assistive feeding, user acceptance, user participation, user-centered design},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Olaya-Figueroa2021,

title = {Facilitating Mind-Wandering Through Video Games},

author = {Juan F. Olaya-Figueroa and Younes Lakhnati and Jens Gerken},

editor = {Carmelo Ardito, Rosa Lanzilotti, Alessio Malizia, Helen Petrie, Antonio Piccinno, Giuseppe Desolda, Kori Inkpen},

url = {https://hci.w-hs.de/pub_museflow_interact2021/, PDF Download},

doi = {10.1007/978-3-030-85613-7_9},

year  = {2021},

date = {2021-08-30},

booktitle = {Human-Computer Interaction – INTERACT 2021},

journal = {18th IFIP Technical Committee 13 International Conference on Human–Computer Interaction. INTERACT., Springer, Forthcoming.},

publisher = {Springer, Cham},

abstract = {Mind-wandering, i.e., letting the mind drift away from the task at hand, is mostly seen as a state of mind to avoid, as it may negatively impact the current task. However, evidence in cognitive science shows that mind-wandering can also positively affect creativity and problem-solving. Still, there is a lack of technological solutions to facilitate and utilize mind-wandering in such a specific way. In this short paper, we present MuseFlow, a video game designed to facilitate mind-wandering deliberately. Our study shows that MuseFlow induces mind-wandering significantly more often compared to a demanding game condition while maintaining the players' motivation to play and succeed in the game.},

keywords = {creativity, creativity support tools, game mechanics, mind-wandering, problem-solving, serious games, video game},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Arévalo-Arboleda2021c,

title = {Exploring the Visual Space to Improve Depth Perception in Robot Teleoperation using Augmented Reality: The Role of Distance and Target’s Pose in Time, Success, and Certainty},

author = {Stephanie Arévalo-Arboleda and Tim Dierks and Franziska Ruecker and Jens Gerken},

editor = {Carmelo Ardito, Rosa Lanzilotti, Alessio Malizia, Helen Petrie, Antonio Piccinno, Giuseppe Desolda, Kori Inkpen},

url = {https://hci.w-hs.de/pub_interact21_mia_compressed-2/, PDF Download},

doi = {10.1007/978-3-030-85623-6_31},

year  = {2021},

date = {2021-08-30},

booktitle = {Human-Computer Interaction – INTERACT 2021},

publisher = {Springer, Cham},

abstract = {Accurate depth perception in co-located teleoperation has the potential to improve task performance in manipulation and grasping tasks. We thus explore the operator's visual space and design visual

cues using augmented reality that aim to facilitate the positioning of the gripper above a target object before attempting to grasp it. The designs we propose include a virtual circle (Circle), virtual extensions (Extensions) from the gripper's fingers, and a color matching design using a real colormap with matching colored virtual circles (Colors). We conducted an experiment to evaluate these designs and the influence of distance from the operator to the workspace and the target object's pose. Here, we report on time, success, and perceived certainty in a grasping task. Our results show that a shorter distance leads to higher success, faster grasping time, and higher certainty. Concerning the target object's pose, a clear pose leads to higher success and certainty but interestingly slower task times. Regarding the design of cues, our results reveal that the simplicity of the Circle cue leads to the highest success and outperforms the most complex cue Colors also for task time, while the level of certainty

seems to be depending more on the distance than the type of cue. We consider that our results can serve as an initial analysis to further explore these factors both when designing to improve depth perception and within the context of co-located teleoperation.},

keywords = {augmented reality, depth perception, human-robot interaction, user study},

pubstate = {published},

tppubtype = {inproceedings}

}

@book{Karapanos2021,

title = {Advances in Longitudinal HCI Research},

author = {Evangelos Karapanos and Jens Gerken and Jesper Kjeldskov and Mikael B. Skov},

url = {https://hci.w-hs.de/pub_advances_in_longitudinal_hci_research_leseprobe_01/, PDF Download},

doi = {10.1007/978-3-030-67322-2},

isbn = {978-3-030-67322-2},

year  = {2021},

date = {2021-08-12},

publisher = {Springer},

address = {Cham},

abstract = {Longitudinal studies have traditionally been seen as too cumbersome and labor-intensive to be of much use in research on Human-Computer Interaction (HCI). However, recent trends in market, legislation, and the research questions we address, have highlighted the importance of studying prolonged use, while technology itself has made longitudinal research more accessible to researchers across different application domains. Aimed as an educational resource for graduate students and researchers in HCI, this book brings together a collection of chapters, addressing theoretical and methodological considerations, and presenting case studies of longitudinal HCI research. Among others, the authors:      discuss the theoretical underpinnings of longitudinal HCI research, such as when a longitudinal study is appropriate, what research questions can be addressed and what challenges are entailed in different longitudinal research designs reflect on methodological challenges in longitudinal data collection and analysis, such as how to maintain participant adherence and data reliability when employing the Experience Sampling Method in longitudinal settings, or how to cope with data collection fatigue and data safety in applications of autoethnography and autobiographical design, which may span from months to several years present a number of case studies covering different topics of longitudinal HCI research, from “slow technology”, to self-tracking, to mid-air haptic feedback, and crowdsourcing.},

keywords = {Field studies, longitudinal hci research, longitudinal studies in information systems, research designs, user study},

pubstate = {published},

tppubtype = {book}

}