Operational feedback considering social contingency for robot teleoperation

In telerobotics systems for children, it is crucial that the teleoperation interface is intuitive and well-controllable in terms of communication delay so that the children do not become bored quickly. To this end, we consider an operational feedback design for the teleoperation interface that incorporates the idea of social contingency detection, which is borrowed from a developmental psychology literature. Because the idea itself is general and there has been no attempt to implement it in telerobotics systems to date, in this study, which aims at a better operational feedback design, we test some representative implementations in human-subject experiments and report the results.