Abstract
Expressive behaviour is a vital aspect of human interaction.
A model for adaptive emotion expression was developed for
the Nao robot. The robot has an internal arousal and va-
lence value, which are in
uenced by the emotional state of its
interaction partner and emotional occurrences such as win-
ning a game. It expresses these emotions through its voice,
posture, whole body poses, eye colour and gestures. An ex-
periment with 18 children (mean age 9) and two Nao robots
was conducted to study the in
uence of adaptive emotion
expression on the interaction behaviour and opinions of chil-
dren. In a within-subjects design the children played a quiz
with both an aective robot using the model for adaptive
emotion expression and a non-aective robot without this
model. The aective robot reacted to the emotions of the
child using the implementation of the model, the emotions of
the child were interpreted by aWizard of Oz. The dependent
variables, namely the behaviour and opinions of the children,
were measured through video analysis and questionnaires.
The results show that children react more expressively and
more positively to a robot which adaptively expresses itself
than to a robot which does not. The feedback of the children
in the questionnaires further suggests that showing emotion
through movement is considered a very positive trait for a
robot. From their positive reactions we can conclude that
children enjoy interacting with a robot which adaptively ex-
presses itself through emotion and gesture more than with
a robot which does not do this.
A model for adaptive emotion expression was developed for
the Nao robot. The robot has an internal arousal and va-
lence value, which are in
uenced by the emotional state of its
interaction partner and emotional occurrences such as win-
ning a game. It expresses these emotions through its voice,
posture, whole body poses, eye colour and gestures. An ex-
periment with 18 children (mean age 9) and two Nao robots
was conducted to study the in
uence of adaptive emotion
expression on the interaction behaviour and opinions of chil-
dren. In a within-subjects design the children played a quiz
with both an aective robot using the model for adaptive
emotion expression and a non-aective robot without this
model. The aective robot reacted to the emotions of the
child using the implementation of the model, the emotions of
the child were interpreted by aWizard of Oz. The dependent
variables, namely the behaviour and opinions of the children,
were measured through video analysis and questionnaires.
The results show that children react more expressively and
more positively to a robot which adaptively expresses itself
than to a robot which does not. The feedback of the children
in the questionnaires further suggests that showing emotion
through movement is considered a very positive trait for a
robot. From their positive reactions we can conclude that
children enjoy interacting with a robot which adaptively ex-
presses itself through emotion and gesture more than with
a robot which does not do this.
| Original language | English |
|---|---|
| Title of host publication | HRI 2014 : proceedings of the 2014 ACM/IEEE international conference on human-robot interaction, Bielefeld, Germany, 03-06.03.2014 |
| Place of Publication | New York |
| Publisher | Association for Computing Machinery |
| Pages | 407-414 |
| Number of pages | 8 |
| ISBN (Print) | 978-1-4503-2658-2 |
| DOIs | |
| Publication status | Published - 2014 |