Uncanny valley research has shown that human likeness is an important consideration when designing artificial agents. It has separately been shown that artificial agents exhibiting human-like kinematics can elicit positive perceptual responses. However the kinematic characteristics underlying that perception have not been elucidated. This paper proposes kinematic jerk amplitude as a candidate metric for kinematic human likeness, and aims to determine whether a perceptual optimum exists over a range of jerk values. We created minimum-jerk two-digit grasp kinematics in a prosthetic hand model, then added different amplitudes of temporally smooth noise to yield a variety of animations involving different total jerk levels, ranging from maximally smooth to highly jerky. Subjects indicated their perceptual affinity for these animations by simultaneously viewing two different animations side-by-side, first using a laptop, then separately within a virtual reality (VR) environment. Results suggest that (a) subjects generally preferred smoother kinematics, (b) subjects exhibited a small preference for rougher-than minimum jerk kinematics in the laptop experiment, and that (c) the preference for rougher-than minimum-jerk kinematics was amplified in the VR experiment. These results suggest that non-maximally smooth kinematics may be perceptually optimal in robots and other artificial agents.

中文翻译：

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综合挺举作为人工代理运动学亲和力的指标：笔记本电脑和虚拟现实实验，涉及两位数抓取过程中的食指运动

恐怖谷研究表明，在设计人工代理时，人类的相似性是一个重要的考虑因素。已经单独表明，表现出类人运动学的人工代理可以引起积极的感知反应。然而，尚未阐明这种感知背后的运动学特征。本文提出了运动学急动幅度作为运动学人类相似性的候选度量，旨在确定在一定范围内的急动值范围内是否存在感知最优。我们在假肢手模型中创建了最小跳动的两位数抓取运动学，然后添加了不同幅度的时间平滑噪声，以产生涉及不同总跳动水平的各种动画，范围从最大平滑到高度跳动。受试者通过同时并排观看两个不同的动画来表明他们对这些动画的感知亲和力，首先使用笔记本电脑，然后在虚拟现实 (VR) 环境中分别观看。结果表明，(a) 受试者通常更喜欢更平滑的运动学，(b) 受试者在笔记本电脑实验中表现出对粗略比最小加加速度运动学的较小偏好，并且 (c) 对比最小加加速度更粗糙运动学的偏好在VR 实验。这些结果表明，非最大平滑运动学在机器人和其他人工代理中可能在感知上是最佳的。(b) 受试者在笔记本电脑实验中表现出对粗略大于最小跃度运动学的偏好，并且 (c) 在 VR 实验中放大了对粗略大于最小跃度运动学的偏好。这些结果表明，非最大平滑运动学在机器人和其他人工代理中可能在感知上是最佳的。(b) 受试者在笔记本电脑实验中表现出对粗略大于最小跃度运动学的偏好，并且 (c) 在 VR 实验中放大了对粗略大于最小跃度运动学的偏好。这些结果表明，非最大平滑运动学在机器人和其他人工代理中可能在感知上是最佳的。