Abstract
Robots are becoming more and more present in many domains of our daily lives. Their usage encompasses industry, home automation, space exploration, and military operations. Robots can also be used in crisis management situations, where it is impossible to access or dangerous to send humans into the intervention area. The present work compares users’ performances on tangible and on touch user interfaces, for a crisis management application on tabletop. The studied task consists of remotely controlling robots in a simulated disaster/intervention area using a tabletop equipped with a layer of RFID antennas, by displacing mini-robots on its surface matching the situation of the real robots on the ground. Dual reality enforces an accurate and up-to-date mapping between the real robots and the mini robots on the tabletop surface. Our findings show that tangible interaction outperforms touch interaction in effectiveness, efficiency and usability, in a task of remote control of one and two robots; only when the user manipulates a single robot remains the efficiency dimension unchanged between tangible and touch interaction. Results also show that tangible interaction technique does not significantly lower the users’ workload. We finally expose a post-experiment interview and questionnaire results, assessing the participants’ overall satisfaction and agreement on using tangible objects on a tabletop.
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Notes
Still accessible on 09-16-2019.
German Research Center for Artificial Intelligence. Website: www.dfki.de.
Massachusetts Institute of Technology; www.mit.edu.
The tabletop was designed by Rfidées company: www.rfidees.com.
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Acknowledgements
We thank the automation department of the Laboratory of Industrial and Human Automation control, Mechanical engineering and Computer Science (LAMIH), particularly Marie-Pierre Pacaux-Lemoine and Patrick Millot for lending us the Lego robots (used in SUCRé project [6, 121]). We also thank Lydia Habib for her help with the robots’ programming and communication. The authors also thank warmly the anonymous reviewers for their numerous constructive remarks.
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Appendices
A Appendix: mobile-robots study questionnaires
This study has other questionnaires than those presented in Sect. 3: pre-experiment questionnaire and post-experiment questionnaire.
1.1 A.1 Pre-experiment questionnaire
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Participant ID (given by experimenter): . . . . . . . . . . . .
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Age: . . . . . . . . . . . .
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Gender:
Male
Female
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Occupation and field: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Dominant hand:
Left
Right
Circle your answers for each of the following questions.
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Have you ever used an interactive tabletop before?
Very infrequently 1 2 3 4 5 very frequently
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Have you ever used a tangible interactive tabletop before?
Very infrequently 1 2 3 4 5 very frequently
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How frequently do you use a touch-interface (smartphone, tablet ...)?
Very infrequently 1 2 3 4 5 very frequently
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Have you ever used a big sized interface (such as a tabletop)?
Very infrequently 1 2 3 4 5 very frequently
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Have you ever remotely controlled a robot?
Very infrequently 1 2 3 4 5 very frequently
1.2 A.2 Post-experiment questionnaire
Questionnaire about the tangible objects and the tabletop general usage feedback: For each of the following statements, circle one answer that best describes your reactions to the objects.
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The “robot” tangible object is easy to manipulate.
Strongly disagree 1 2 3 4 5 strongly agree
Justification (optional):
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The “robot” tangible object seems significant (meaningful) to you in relation to its role in the application.
Strongly disagree 1 2 3 4 5 strongly agree
Justification (optional):
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I had a full control on the “robot tangible object” while using it (not the robot).
Strongly disagree 1 2 3 4 5 strongly agree
Justification (optional):
-
I had a full control on the “graphical robot object” while using it (not the robot).
Strongly disagree 1 2 3 4 5 strongly agree
Justification (optional):
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The tangible object “take picture” is easy to manipulate.
Strongly disagree 1 2 3 4 5 strongly agree Justification (optional):
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The “take picture” tangible object seems significant (meaningful) to you in relation to its role in the application.
Strongly disagree 1 2 3 4 5 strongly agree
Justification (optional):
Comments and suggestion about the experimentation (optional):
B Appendix: Tasks scenario and sequence
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Merrad, W., Héloir, A., Kolski, C. et al. RFID-based tangible and touch tabletop for dual reality in crisis management context. J Multimodal User Interfaces 16, 31–53 (2022). https://doi.org/10.1007/s12193-021-00370-2
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DOI: https://doi.org/10.1007/s12193-021-00370-2