THRI 2024

ACM Transactions on Human-Robot Interaction (THRI) is a Gold Open Access journal that aims to be the leading peer-reviewed interdisciplinary journal of human-robot interaction. Publication preference is given to articles that contribute to the state of the art or advance general knowledge, have broad interest, and are written to be intelligible to a wide range of audiences.

The AR Interface utilized by participants

The field of end-user robot programming seeks to develop methods that empower non-expert programmers to task and modify robot operations. In doing so, researchers may enhance robot flexibility and broaden the scope of robot deployments into the real world.

We introduce PRogramAR (Programming Robots using Augmented Reality), a novel end-user robot programming system that combines the intuitive visual feedback of augmented reality (AR) with the simplistic and responsive paradigm of trigger-action programming (TAP) to facilitate human-robot collaboration. Through PRogramAR, users are able to rapidly author task rules and desired reactive robot behaviors, while specifying task constraints and observing program feedback contextualized directly in the real world. PRogramAR provides feedback by simulating the robot’s intended behavior and providing instant evaluation of TAP rule executability to help end-users better understand and debug their programs during development.