Evaluating Fluency in Human-Robot Collaboration

Collaborative fluency is the coordinated meshing of joint activities between members of a well-synchronized team. We aim to build robotic team members that can work side-byside humans by displaying the kind of fluency that humans are accustomed to from each other. As part of this effort, we have developed a number of metrics to evaluate the level of fluency in human-robot shared-location teamwork. In this paper we discuss issues in measuring fluency, present both subjective and objective metrics that have been used to measure fluency between a human and robot, and report on findings along the proposed metrics.