Mirror Eyes: Explainable Human-Robot Interaction at a Glance
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866914135059464192 |
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| author | Krüger, Matti Tanneberg, Daniel Wang, Chao Hasler, Stephan Gienger, Michael |
| author_facet | Krüger, Matti Tanneberg, Daniel Wang, Chao Hasler, Stephan Gienger, Michael |
| contents | The gaze of a person tends to reflect their interest. This work explores what happens when this statement is taken literally and applied to robots. Here we present a robot system that employs a moving robot head with a screen-based eye model that can direct the robot's gaze to points in physical space and present a reflection-like mirror image of the attended region on top of each eye. We conducted a user study with 33 participants, who were asked to instruct the robot to perform pick-and-place tasks, monitor the robot's task execution, and interrupt it in case of erroneous actions. Despite a deliberate lack of instructions about the role of the eyes and a very brief system exposure, participants felt more aware about the robot's information processing, detected erroneous actions earlier, and rated the user experience higher when eye-based mirroring was enabled compared to non-reflective eyes. These results suggest a beneficial and intuitive utilization of the introduced method in cooperative human-robot interaction. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_18466 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Mirror Eyes: Explainable Human-Robot Interaction at a Glance Krüger, Matti Tanneberg, Daniel Wang, Chao Hasler, Stephan Gienger, Michael Robotics Human-Computer Interaction The gaze of a person tends to reflect their interest. This work explores what happens when this statement is taken literally and applied to robots. Here we present a robot system that employs a moving robot head with a screen-based eye model that can direct the robot's gaze to points in physical space and present a reflection-like mirror image of the attended region on top of each eye. We conducted a user study with 33 participants, who were asked to instruct the robot to perform pick-and-place tasks, monitor the robot's task execution, and interrupt it in case of erroneous actions. Despite a deliberate lack of instructions about the role of the eyes and a very brief system exposure, participants felt more aware about the robot's information processing, detected erroneous actions earlier, and rated the user experience higher when eye-based mirroring was enabled compared to non-reflective eyes. These results suggest a beneficial and intuitive utilization of the introduced method in cooperative human-robot interaction. |
| title | Mirror Eyes: Explainable Human-Robot Interaction at a Glance |
| topic | Robotics Human-Computer Interaction |
| url | https://arxiv.org/abs/2506.18466 |