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Magic Cards: A Paper Tag Interface for Implicit Robot Control. Shengdong Zhao. Koichi Nakamura. Kentaro Ishii. Takeo Igarashi. JST ERATO. Average Time on Housework Per Week. Source: National Survey of Families and Households. Domestic Robots can Help , but …. Technology: - PowerPoint PPT Presentation
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Magic Cards: A Paper Tag Interface
for Implicit Robot Control
Shengdong Zhao Takeo IgarashiKoichi Nakamura Kentaro Ishii
JSTERATO
Average Time on Housework Per Week
Source: National Survey of Families and Households
MarriedDivorced
SeparatedWidowed
Never Married
Women 29.83 hrs 27.80 hrs 21.17 hrs
Men 17.67 hrs 21.53 hrs 17.83 hrs
Domestic Robots can Help, but …
Technology: Robots technologies are not well defined, and may change often.
User: Housewives and elderly are afraid of technologies
Environment: Robots may disturb the comfort of our home
Domestic Robots can Help, but …
Technology: Robots technologies are not well defined, and may change often.
User: Housewives and elderly are afraid of technologies
Environment: Robots may disturb the comfort of our home
Domestic Robots can Help, but …
Technology: Robots technologies are not well defined, and may change often.
User: Housewives and elderly are afraid of technologies
Environment: Robots may disturb the comfort of our home
Domestic Robots can Help, but …
Technology: Robots technologies are not well defined, and may change often.
User: Housewives and elderly are afraid of technologies
Environment: Robots may disturb the comfort of our home
Domestic Robots can Help, but …
Technology: Robots technologies are not well defined, and may change often.
User: Housewives and elderly are afraid of technologies
Environment: Robots may disturb the comfort of our home
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2
3
1. Frequent Change of Robot Technology
Principle of Information Hiding– Hiding "difficult design decisions or design
decisions which are likely to change“ (David Parnas, 1972)
Housework tasks
Robot technology
(Long historyrelatively stable)
(Change frequently)
Interface
Human users
1. Frequent Change of Robot Technology
Principle of Information Hiding– Hiding "difficult design decisions or design
decisions which are likely to change“ (David Parnas, 1972)
Housework tasks
Robot technology
Interface
Human users
Solution: Only expose “tasks” to users
2. Fear of Learning New Technology
Everyday Objects (Such as Paper Cards)
Solution: Interact with everyday objects
New Technology
???
3. Possible Disturbance at Home
The Elves and the Shoemaker (Fairy Tales, by the Grimm Brothers)
Oyster Girl(A Chinese Fairy Tale)
Solution: Use asynchronous interaction
Magic Cards Video
Guest Star: C3PO
The Robot Housework System
Human users
Magic Cards
Interface
Sensors andProcessing System
Robot Housework System
computer
cameras
5m
4m
robotscomputer
Vision-based Environment
Robots Used
Robots Used
Robots Used
Robots Used
The Robot Housework System
Human users
Magic Cards
Interface
Sensors andProcessing System
Robot Housework System
The Magic Cards Interface
Magic Cards is a very simple tangible programming interface for housework planning using paper cards.
The Magic Cards Interface
Magic Cards is a very simple tangible programming interface for housework planning using paper cards.
Grammar of the Magic Cards Task Planning
Language
C3PO cleans the dishes at noon.
Grammar of the Magic Cards Task Planning
Language
C3PO cleans the dishes at noon.
subject + verb + object + modifiers
The dishes need to be cleaned at noon. object + verb + modifiers
Grammar of the Magic Cards Task Planning
Language
The dishes need to be cleaned at noon. object + verb + modifiers
Action tagsObject tags Modifier tags
Object Tags
Action Tags
Vacuum
Mop Deliver
Washdishes
Washclothes
Avoid
…
Ideally include all types of house work tasks
Supported Action Tags
Vacuum
Mop Deliver
Avoid
Action Tags: Vacuum, Mop, Avoid
Vacuum
Mop Avoid
Action Tags: One to One Delivery
Action Tags: Many to One Deliver
Action Tags: One to Many Delivery
Trash binDoor
Modifier Tags
Time Tags
Order Tags
Routine Tasks1. Move the sofa away2. Vacuum underneath3. Move the sofa back
Routine Tasks1. Move the sofa away2. Vacuum underneath3. Move the sofa back
Routine Tasks1. Move the sofa away2. Vacuum underneath3. Move the sofa back
Routine Tasks1. Move the sofa away2. Vacuum underneath3. Move the sofa back
1
1
Routine Tasks1. Move the sofa away2. Vacuum underneath3. Move the sofa back
1
1
2
Routine Tasks1. Move the sofa away2. Vacuum underneath3. Move the sofa back
Compound TasksDefine a function:
CompoundTask C1 (object) {Move object away;Vacuum underneath;Move object back;
}
Use it sometime later:C1(anotherObject);
Challenge: How to incorporate this concept into Magic Cards so that non-tech-savvy people can program compound tasks?
Special Purpose Tags: Compound Task Tag
Special Purpose Tags: Compound Task Tag
Clean underneat
h
Evaluations1. Iterative design of the Magic Cards
interface
2. User study of both the Magic Cards interface and the prototype system
Iterative Design of Magic Cards
Goal– understand users – receive initial feedback
on design concepts– refine paper-tag
interface
Approach– 6 participants, 2 hrs per
person (1 male, 5 females, age range 21-64, mean 35.8)
– Semi-structured interviews
Iterations
Action Tags
Time Tags
Modifier Tags
Order Tags
Special Purpose and Object Tags
User StudyGoal
– Test the “Magic Cards” interface and the prototype system
Approach– Participants:
• 8 participants, 2 hrs per person (all females, 21-52, mean 31.5)
– Procedure:1. Questionnaire2. Paper-tag evaluation3. Task scenarios in simulated
environment
Positive Results and Feedback
6/8 interpret all tags correctly
Short task planning time (within minutes)
Magic Cards is easy to understand and use– e.g., a 52 year-old lady who self-describe as
being afraid of “any buttons” highly praised the simplicity of the interface
Concerns and Suggestions
• Design for young children– Child safe– Collect cards after
planning
• All-encompassing robots preferred for small home
• Privacy and aesthetics issues of sensors– Sensors on robots
instead of in the environment?
ConclusionIntroduced an alternative HRI design
approach by focusing on “tasks”
Designed the Magic Cards interface
Developed a prototype system to support interaction with the Magic Cards interface
Future WorkExtend the Magic Cards interface with more
actions and modifiers tags
Improve the sensor and system technologies
Use more advanced robots
Washdishe
s
Washcloth
es
…
AcknowledgmentsMinghui Sun, Yoshiki Takeoka, Sorahiko
Nukatani, Tak Miyake, Zoey Yu, Yotam Gingold, Koji
Yatani,Daisuke Sakamoto
JST ERATO: http://www.designinterface.jp (Many openings for post-docs and interns!)
User study participantsAnonymous reviewers
End