Voice Command Recognition for Explicit Intent Elicitation in Collaborative Object Transportation Tasks: a ROS-based Implementation
Voice command recognition remains relatively unexplored in robotics, with limited insight into user acceptance and real-world performance. In this work we try to address this by offering multiple voice command recognition models encapsulated in a single publicly available ROS node ready to be used b...
| Authors: | , |
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| Format: | article |
| Status: | Versión aceptada para publicación |
| Publication Date: | 2024 |
| Country: | España |
| Institution: | Consejo Superior de Investigaciones Científicas (CSIC) |
| Repository: | DIGITAL.CSIC. Repositorio Institucional del CSIC |
| OAI Identifier: | oai:digital.csic.es:10261/388298 |
| Online Access: | http://hdl.handle.net/10261/388298 https://api.elsevier.com/content/abstract/scopus_id/85188060982 |
| Access Level: | Open access |
| Keyword: | Human-centered Studies Human-Robot Interaction Intention Understanding Natural Language Processing Voice Recognition |
| Summary: | Voice command recognition remains relatively unexplored in robotics, with limited insight into user acceptance and real-world performance. In this work we try to address this by offering multiple voice command recognition models encapsulated in a single publicly available ROS node ready to be used by the robotics practitioner. We tested its actual performance with 10 volunteers of different nationalities whose first spoken language is not English. The obtained accuracy in these tests varies between 93.14% and 95.63% depending on the number of considered commands and model size. Finally, we conducted a user study with 23 new volunteers performing a human-robot collaborative transport task to test whether humans are willing to use this type of system despite having a non-negligible delay and failure rate. In addition to improvements in parameters such as comfort and trust in the robot, 86.9% of the volunteers chose this system over a technically more robust one. |
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