Social Type-Aware Navigation Framework for Mobile Robots in Human-Shared Environments.

As robots become increasingly common in human-populated environments, they must be perceived as social beings and behave socially. People try to preserve their own space during social interactions with others, and this space depends on a variety of factors, such as individual characteristics or their age. In real-world social spaces, there are many different types of people, and robots need to be more sensitive, especially when interacting with vulnerable subjects such as children. However, the current navigation methods do not consider these differences and apply the same avoidance strategies to everyone. Thus, we propose a new navigation framework that considers different social types and defines appropriate personal spaces for each, allowing robots to respect them. To this end, the robot needs to classify people in a real environment into social types and define the personal space for each type as a Gaussian asymmetric function to respect them. The proposed framework is validated through simulations and real-world experiments, demonstrating that the robot can improve the quality of interactions with people by providing each individual with an adaptive personal space. The proposed costmap layer is available on GitHub.

Effects of increased recirculation air rate and aircraft cabin occupancy on passengers' health and well-being - Results from a randomized controlled trial.

BACKGROUND: Aircraft cabins are special environments. Passengers sit in close proximity in a space with low pressure that they cannot leave. The cabin is ventilated with a mixture of outside and recirculated air. The volume of outside air impacts the carbon footprint of flying. Higher recirculation air rates could be considered to save energy and divert less kerosene from producing thrust. OBJECTIVES: To investigate whether higher recirculation air rates in aircraft cabins negatively affect passengers' health and well-being and if occupancy plays a role in this. METHODS: In a 2 (occupancy: full and half-occupied) X 4 (ventilation regime) factorial design with stratified randomization, participants were exposed in an aircraft segment in a low-pressure tube during a 4-h simulated flight. Ventilation regimes consisted of increasing proportions of recirculated air up to a maximum CO2 concentration of 4200 ppm. Participants rated comfort, health symptoms, and sleepiness multiple times. Heart rate (variability), as stress marker, was measured continuously. RESULTS: 559 persons representative of flight passengers regarding age (M = 42.7, SD = 15.9) and sex (283 men) participated. ANCOVA results showed hardly any effect of both factors on self-reported health symptoms, strong main effects of occupancy on comfort measures, and interaction effects for sleepiness and physiological stress parameters: Participants in the half-occupied cabin hardly reacted to increased recirculation air rates and show overall more favorable responses. Participants in the fully occupied cabin reported higher sleepiness and had stress reactions when the recirculation air rate was high. DISCUSSION: This large-scale RCT shows the importance of occupancy, a previously neglected factor in indoor air research. The proximity of other people seems to increase stress and exacerbate reactions to air quality. Further studies on causal pathways are needed to determine if recirculation air rates can be increased to reduce the carbon footprint of flying without detrimental effects on passengers.

PROXEMICS, COVID-19, AND THE ETHICS OF CARE IN SOUTH AFRICA.

In South Africa, lockdown and its excesses have opened up questions on the limits of an ethics of care, whose ethics are privileged, how care is delivered, and what care means. We show how an ethics of proxemics and its operationalization as distance highlight everyday inequalities and limit the provision of care. Constraints on physical distancing in line with public health measures intended to limit the spread of the coronavirus echo the controls enforced under apartheid, showing how inequality is both embodied and legally entrenched.

BE KIND: Negotiating Ethical Proximities in Aotearoa/New Zealand during COVID-19.

Citizens do not merely respond to states of emergency; in democratic societies, they help constitute them. This essay analyzes New Zealanders' engagements in ethical reasoning during the country's first COVID-19 lockdown. Specifically, I examine how we can understand a variety of public responses to emergency measures-including breaching regulations, threatening rule-breakers, sealing off neighborhoods, and recasting citizen-returnees as "strangers"-as negotiations of ethical proximities focused on keeping appropriately close that which is thought should be near, and keeping distanced that deemed best held afar.

Interpersonal Distance in the SARS-CoV-2 Crisis.

BACKGROUND: Mandatory rules for social distancing to curb the SARS-CoV-2 pandemic require individuals to maintain a critical interpersonal distance above 1.5 m. However, this contradicts our natural preference, which is closer to 1 m for non-intimate encounters, for example, when asking a stranger for directions. OBJECTIVE: This review addresses how humans typically regulate interpersonal distances, in order to highlight the challenges of enforcing atypically large interpersonal distances. METHOD: To understand the challenges posed by social distancing requirements, we integrate relevant contributions from visual perception, social perception, and human factors. RESULTS: To date, research on preferred interpersonal distances suggests that social distancing could induce discomfort, heighten arousal, and decrease social signaling in the short term. While the protracted effects of social distancing are unclear, we propose hypotheses on the mid- to long-term consequences of violating preferred norms of interpersonal distances. CONCLUSION: We suggest that enforcing a physical distance of 1.5-2 m presents a serious challenge to behavioral norms. APPLICATION: We address how notifications, architectural design, and visualizations could be effectively applied to promote interpersonal distance requirements.

Social Navigation in a Cognitive Architecture Using Dynamic Proxemic Zones.

Robots have begun to populate the everyday environments of human beings. These social robots must perform their tasks without disturbing the people with whom they share their environment. This paper proposes a navigation algorithm for robots that is acceptable to people. Robots will detect the personal areas of humans, to carry out their tasks, generating navigation routes that have less impact on human activities. The main novelty of this work is that the robot will perceive the moods of people to adjust the size of proxemic areas. This work will contribute to making the presence of robots in human-populated environments more acceptable. As a result, we have integrated this approach into a cognitive architecture designed to perform tasks in human-populated environments. The paper provides quantitative experimental results in two scenarios: controlled, including social navigation metrics in comparison with a traditional navigation method, and non-controlled, in robotic competitions where different studies of social robotics are measured.

"Next to you"-Young children sit closer to a person following vicarious ostracism.

Seeking proximity to another person immediately expresses affiliative intentions. These are highly relevant after experiencing social exclusion. Through a novel task, the current study investigated the relation between proximity and observed ostracism during early childhood. A sample of 64 children (Mage=58months) first watched priming videos either depicting ostracism or not. Subsequently, children saw four seats of varying distances from an interactant's seat and chose where to sit. Children who observed social exclusion selected seats with higher proximity. The results suggest that young preschoolers can immediately express the threatened need to belong by literally getting closer to even a stranger after witnessing ostracism. The task provides new opportunities to test reactions to social exclusion during early childhood.

What makes a space invader? Passenger perceptions of personal space invasion in aircraft travel.

The invasion of personal space is often a contributory factor to the experience of discomfort in aircraft passengers. This paper presents a questionnaire study which investigated how air travellers are affected by invasions of personal space and how they attempt to adapt to, or counter, these invasions. In support of recent findings on the factors influencing air passenger comfort, the results of this study indicate that the invasion of personal space is not only caused by physical factors (e.g. physical contact with humans or objects), but also other sensory factors such as noise, smells or unwanted eye contact. The findings of this study have implications for the design of shared spaces. Practitioner Summary: This paper presents a questionnaire study which investigated personal space in an aircraft environment. The results highlight the factors which affect the perception of personal space invasion in aircraft and can therefore inform the design of aircraft cabin environments to enhance the passenger experience.

Proxemics in Couple Interactions: Rekindling an Old Optic.

Utilizing as a lens the interpersonal implications of physical interpersonal distances in social contexts (a set of variables present during the professional discourse during the 1960s and 1970s, to then fade away), this article explores interactive process displayed by the protagonic couple in Bela Bartok's opera "Bluebeard Castle," an exercise aimed at underlining the value of maintaining proxemics as an explicit level of observation for clinical practice and interpersonal research.

Attachment and borderline personality disorder as the dance unfolds: A quantitative analysis of a novel paradigm.

Current research on personality disorders strives to identify key behavioural and cognitive facets of patient functioning, to unravel the underlying root causes and maintenance mechanisms. This process often involves the application of social paradigms - however, these often only include momentary affective depictions rather than unfolding interactions. This constitutes a limitation in our capacity to probe core symptoms, and leaves potential findings uncovered which could help those who are in close relationships with affected individuals. Here, we deployed a novel task in which subjects interact with four unknown virtual partners in a turn-taking paradigm akin to a dance, and report on their experience with each. The virtual partners embody four combinations of low/high expressivity of positive/negative mood. Higher scores on our symptomatic measures of attachment anxiety, avoidance, and borderline personality disorder (BPD) were all linked to a general negative appraisal of all the interpersonal experiences. Moreover, the negative appraisal of the partner who displayed a high negative/low positive mood was tied with attachment anxiety and BPD symptoms. The extent to which subjects felt responsible for causing partners' distress was most strongly linked to attachment anxiety. Finally, we provide a fully-fledged exploration of move-by-move action latencies and click distances from partners. This analysis underscored slower movement initiation from anxiously attached individuals throughout all virtual interactions. In summary, we describe a novel paradigm for second-person neuroscience, which allowed both the replication of established results and the capture of new behavioural signatures associated with attachment anxiety, and discuss its limitations.