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Wiki source code of a. Prototype

Last modified by Kevin Chen on 2025/11/09 23:57
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1 == Introduction: ==
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3 For our evaluation, we decided to implement a vertical prototype that focuses on one specific interaction: the Robot initiating the [[Companionship Use Case (UC02.1)>>doc:2\. Specification.b\. Use Cases.UC02\.0\: Pet.UC02\.1\: Companionship.WebHome]]. Due to many real-world constraints, we created animated prototypes using Blender rather than programming the robot. We also need to test multiple design variations to determine which combination of movement and sound most effectively communicates the robot's intent to the PwD. As such, we have designed 4 different prototypes (referred to as P11, P12, P21, and P22), each representing a unique combination of movement and sound.
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8 == Prototype Design Overview: ==
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10 The prototype implements and tests the 3 functions: Companionship request, Audio coordination, and Emotional comfort. Robot initiates interaction by approaching and signalling intent to engage it, then initiates a synchronised movement and sound to communicate the robot’s intention. The cues are gentle and familiar to ensure the robot’s request feels nonintrusive. The objective of this prototype is to determine which combination of movement and sound best communicates the robot’s intention to seek companionship while remaining clear, appropriate, and emotionally comfortable.
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12 The robot model meshes were obtained from the not-working Miro-E Simulation codebase. They were imported into Blender for animation. Each prototype shows the robot approaching the user and requesting companionship permission through a combination of body movement and audio cues. As these are animations rather than functioning robots, the interactions do not respond to user input. The prototypes only show the companionship initiation sequence and do not include the full companionship behavior that would begin after the user accepts.
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17 ==== Links To Videos: ====
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19 [[Prototype P11>>https://youtu.be/8iwFsrfJYjE]]
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21 [[Prototype P12>>https://youtu.be/dw8zhDhAsz4]]
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23 [[Prototype P21>>https://youtu.be/nZHmc8XzV94]]
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25 [[Prototype P22>>https://youtu.be/FGS2wkYLFc4]]
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29 **Prototype P11 (Movement 1 + Sound 1):**
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31 This prototype combines Movement 1 with Sound 1. We tried making the first movement less 'exciting'. The tail wiggles, while the head turns and its ears move side to side. Sound 1 is "less intense" when compared to Sound 2. It is also the sound of a smaller dog. This combination represents our attempt at a more gentle and subtle approach.
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33 * **Linked Claims**: C02 (Companionship Request Acceptance), C03 (Audio Cue Understanding)
34 * **Preconditions**: Quiet, low-distraction indoor environment resembling a care-home lounge; clear visibility of robot motion; audio volume calibrated to conversational level.
35 * **Dependencies**: Audio and video synchronisation; sound clarity sufficient for soft cues to be heard; participant attention maintained during clip.
36 * **Expected effects**: Expected to be perceived as **most comfortable and socially appropriate**, balancing clarity and emotional warmth.
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38 **Prototype P12 (Movement 1 + Sound 2):**
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40 This prototype combines Movement 1 like before with Sound 2. Sound 2 is the noise of a bigger dog, and also more energetic than 1. The robot uses the same movement pattern as P11, allowing us to isolate the impact of sound variation on user comprehension.
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42 * **Linked Claims**: C02 (Companionship Request Acceptance)
43 * **Preconditions**: Sufficient lighting to make subtle movements noticeable; neutral background without competing visual motion.
44 * **Dependencies**: Participant visual attention; smooth animation without jitter; same framing and duration as other variants.
45 * **Expected effects**: Expected to feel **calm but less clear**, as the lack of auditory cue may reduce recognisability of intent.
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47 **Prototype P21 (Movement 2 + Sound 1):**
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49 This prototype combines Movement 2 with Sound 1. Here, the robot's head performs a 'greeting-like' movement instead of the ears moving. This allowing us to compare the impact of movement variation on user comprehension.
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51 * **Linked Claims**: C02 (Companionship Request Acceptance), C03 (Audio Cue Understanding)
52 * **Preconditions**: Participant viewing distance allows full-body movement visibility; audio output consistent across trials.
53 * **Dependencies**: Motion rendering smooth and natural; audio not distorted; no background noise masking cues.
54 * **Expected effects**: Expected to be **highly engaging and clear**, though potentially slightly more intrusive.
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56 **Prototype P22 (Movement 2 + Sound 2):**
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58 This prototype combines Movement 2 like before with Sound 2. This combination represents our attempt at making a more exciting and interpretable interaction.
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60 * **Linked Claims**: C02 (Companionship Request Acceptance)
61 * **Preconditions**: Visual field unobstructed to observe dynamic body motion; consistent camera angle and framing across variants.
62 * **Dependencies**: Smooth animation playback; participants understand that absence of sound is intentional.
63 * **Expected effects**: Expected to be **energetic and noticeable**, but **less socially comfortable** without the friendly sound cue.
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67 Each combination was designed to isolate one dimension:
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69 * **Movement variation** (subtle vs. expressive)
70 * **Sound variation** (soft vs. energetic)
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74 ==== Prototype Limitations ====
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76 This prototype is not so interactive/ physical and simulates only one of our phases of companionship routine (the initiation).
77 What was not implemented:
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79 * Live perception, dynamic timing, or physical interaction.
80 * Interactions after initiation
81 * Caregiver monitoring and any safety functions.
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83 However, these prototype videos correctly represent the robot’s expressive layer as they were detailed in the design and provide valid material for experimental testing of clarity, appropriateness, and emotional tone (Claims C02–C04).
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