User-centred Security Framework for Social Robots in Public Space (SecuRoPS)

SecuRoPS addresses key challenges related to cyber security, privacy, and safety in the use of social robots in public spaces. This project utilizes the ARI robot from PAL Robotics as its social robot. SecuRoPS is developing a user-centered security framework that ensures social robots can operate safely and securely in public spaces. A key aspect of this framework is the transparent communication to end-users about security measures and the privacy levels of the information shared during interactions with these robots. This framework has been tested through two pilot studies in Fredrikstad Municipality and Barcelona, with a final study yet to be conducted. The threat landscape for social robots is constantly evolving, leading to a diverse range of threat actors targeting their security. These actors can range from lone hackers to highly skilled teams capable of executing complex cyber-attacks. Understanding both the evolving threat landscape and the actors involved is essential for effective risk mitigation. As part of SecuRoPS, we explored this landscape from 2021 to 2023, focusing on identifying potential threat actors, attack methods, and vulnerabilities specific to social robots. In 2023, we also surveyed threats to 5G-enabled wireless networks used by these robots, assessing potential attack scenarios and mitigation strategies. The SecuRoPS security framework includes a well-defined process, threat models, design principles, and guidelines for managing social robot security. It provides reusable models for developers to build secure robots and enables owners to operate them safely, while monitoring and responding to security incidents. In 2022, we explored safety, security, and privacy principles applicable to social robots in public spaces and examined legal differences in guidelines for robots operating in public versus private spaces. In 2023, we proposed a thematic framework consolidating essential security guidelines, tailored to the evolving threat landscape of social robots in public spaces. Our research underlines the urgent need for bespoke security standards. In addition, we analyzed security threats, vulnerabilities, and risks related to software development for social robots, resulting in a framework specifically designed for developers. Although social robots are becoming increasingly integrated into daily life, their introduction into public spaces is no trivial task. To gain user acceptance, a positive user experience (UX) is essential and must be a key part of our security framework. In 2021, we conducted a systematic literature review following PRISMA guidelines to identify the challenges and benefits of UX evaluation in social robots. Our findings revealed that questionnaires and interviews are the most common methods used. This feedback helps shape the security framework, by capturing the needs of both users and robot owners. In 2024, we examined factors influencing individuals' willingness to share personal information with social robots in public spaces, emphasizing the importance of transparency and trust for a positive UX. To address this, we developed a method for communicating privacy levels related to shared data during robot interactions to provide personalized recommendations (2023 and 2024). We are also working on methods to clearly communicate security measures to end-users as part of our user-centered framework (2024). The evaluation of these artifacts is conducted through iterative pilot studies, focusing on key elements such as human-robot interaction, security, and privacy. Each study emphasizes one or two of these aspects. In the pilots, social robots engage in scenarios like providing recommendations on current events and local attractions, based on personal data shared by users. Our first pilot study in 2023 focused on logistics and human-robot interaction, taking place at Blender Collective in Fredrikstad and during a science festival in Barcelona. The second pilot, conducted in 2024, emphasized human-robot interaction and privacy and took place at Fredrikstad Municipality/Fredrikstad Cinema and another science festival in Barcelona. We tested hypotheses such as whether offering varying levels of privacy could improve transparency and user trust. The final pilot is scheduled for late October 2024. In 2021, we organized a one-day mini-workshop to foster collaboration between robot developers, R&D institutions, and universities. The workshop, held at the Institut de Robòtica i Informàtica Industrial (IRI), CSIC-UPC in Barcelona, brought together 12 participants from four project partners, including the PAL Robotics team. It focused on user experience, robot perception, concept design, and data impact assessment, providing a valuable platform for knowledge-sharing and informing further development. Regular meetings between project partners in 2023 and 2024 ensure continued collaboration, with shared insights guiding the planning and execution of our pilot studies.

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The SecuRoPS project will develop a user-centred security framework for autonomous social robots that can operate securely in public space. SecuRoPS applies a user-centric approach, where the proposed solution focuses on capturing the needs of social robot users as well as robot administrators/owners. The users are the passers-by that interact with a robot when it is deployed in its intended public space. Developing the security framework requires multidisciplinary expertise. Moreover, a partner with experience in public spaces management needs to participate. SecuRoPS includes a research institute (IFE), academia (HIØ) working in relevant research fields, a public sector actor (Fredrikstad municipality) providing pilot cases, a private company (SNØ design) that is at forefront of industrial design, and international partner (IRI) renowned for research in robotics. SecuRoPS will investigate the topic of autonomous social robots from the perspectives of: designing social robots for societal needs; accountability of security and privacy of social robots. SecuRoPS will also address the sustainability perspective; the outcomes of the SecuRoPS, including a prototype social robot, will be directly applied in an environment of sustainable cities and communities. Noteworthy, the field studies to be carried out involves a social robot providing daily assistance to the citizens/passengers taking the city ferry in Fredrikstad. These ferry services are being offered by Fredrikstad municipality as a part of its ambitions to provide sustainable – free and green - transportation to its citizens and visitors. This is a cross-cutting and multidisciplinary project with a close collaboration between our partners and strong involvement of public/citizens in a highly realistic social robot setting. SecuRoPS will lead to the advancement of knowledge, expertise, and capacity in the fields of autonomous robots and cybersecurity.