The goal of the study was to research different communication modalities needed for intuitive Human-Robot Interaction. This study utilizes a Wizard of Oz prototyping method to enable a restriction-free, intuitive interaction with an industrial robot. The data from 36 test subjects suggests a high preference for speech input, automatic path planning and pointing gestures. The catalogue developed during this experiment contains intrinsic gestures suggesting that the two most popular gestures per action can be sufficient to cover the majority of users. The system scored an average of 74% in different user interface experience questionnaires, while containing forced flaws. These findings allow a future development of an intuitive Human-Robot interaction system with high user acceptance.

中文翻译：

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机器人与巫师：对自然人机交互的调查

该研究的目标是研究直观的人机交互所需的不同通信方式。本研究利用绿野仙踪原型设计方法来实现与工业机器人的无限制、直观交互。来自 36 名测试对象的数据表明，他们对语音输入、自动路径规划和指向手势有很高的偏好。在此实验期间开发的目录包含内在手势，表明每个动作的两个最流行的手势足以覆盖大多数用户。该系统在不同的用户界面体验问卷中平均得分为 74%，同时包含强制缺陷。这些发现允许未来开发具有高用户接受度的直观人机交互系统。