Three way relationship of human-robot interaction

In this paper, we conceptualize human-robot interaction (HRI) such that a 3-way relationship among a human, robot and environment can be established. Various interactive patterns that may occur are analyzed on the basis of shared ground. The model sheds light on how uncertainty caused by lack of knowledge may be resolved and how shared ground can be established through interaction. We also develop measures to evaluate the interactivities such as an Interaction Effort, Interaction Situation Awareness using the information theory as well as Markovian transition. An experiment is carded out in which human subjects are asked to explain or answer about objects through interaction. The results of the experiments show the feasibility of the proposed model and the usefulness of the measures. It is expected that the presented model and measures will serve to increase understanding of the patterns of HRI and to evaluate the interactivity of HRI system.