Towards an Affect Space for robots to display emotional body language

Aryel Beck · Lola D. Cañamero · Kim A. Bard

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Social Robot Interaction and HRI Emotion and Mood Recognition Health, Education, and Physical Culture

Abstract

In order for robots to be socially accepted and generate empathy it is necessary that they display rich emotions. For robots such as Nao, body language is the best medium available given their inability to convey facial expressions. Displaying emotional body language that can be interpreted whilst interacting with the robot should significantly improve its sociability. This research investigates the creation of an Affect Space for the generation of emotional body language to be displayed by robots. To create an Affect Space for body language, one has to establish the contribution of the different positions of the joints to the emotional expression. The experiment reported in this paper investigated the effect of varying a robot's head position on the interpretation, Valence, Arousal and Stance of emotional key poses. It was found that participants were better than chance level in interpreting the key poses. This finding confirms that body language is an appropriate medium for robot to express emotions. Moreover, the results of this study support the conclusion that Head Position is an important body posture variable. Head Position up increased correct identification for some emotion displays (pride, happiness, and excitement), whereas Head Position down increased correct identification for other displays (anger, sadness). Fear, however, was identified well regardless of Head Position. Head up was always evaluated as more highly Aroused than Head straight or down. Evaluations of Valence (degree of negativity to positivity) and Stance (degree to which the robot was aversive to approaching), however, depended on both Head Position and the emotion displayed. The effects of varying this single body posture variable were complex.

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References

1980A circumplex model of affect.2002Designing Sociable Robots 1998Bodily expression of emotion

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2014Adaptive emotional expression in robot-child interaction 2015Design and Evaluation of a Peripheral Robotic Conversation Companion 2018Multimodal Expression of Artificial Emotion in Social Robots Using Color, Motion and Sound 2011Creation and Evaluation of emotion expression with body movement, sound and eye color for humanoid robots 2020A Multimodal Emotional Human–Robot Interaction Architecture for Social Robots Engaged in Bidirectional Communication 2018The Effects of Humanlike and Robot-Specific Affective Nonverbal Behavior on Perception, Emotion, and Behavior 2018Bodily Communication of Emotion: Evidence for Extrafacial Behavioral Expressions and Available Coding Systems 2018Model of Dual Anthropomorphism: The Relationship Between the Media Equation Effect and Implicit Anthropomorphism

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