The design of artificial empathy is one of the most essential issues in social robotics. This is because empathic interactions with ordinary people are needed to introduce robots into our society. Several attempts have been made for specific situations. However, such attempts have provided several limitations; thus, diminishing authenticity. The present article proposes “affective developmental robotics (hereafter, ADR),” which provides more authentic artificial empathy based on the concept of cognitive developmental robotics (hereafter, CDR). First, the evolution and development of empathy as revealed in neuroscience and biobehavioral studies are reviewed, moving from emotional contagion to envy and schadenfreude. These terms are then reconsidered from the ADR/CDR viewpoint, particularly along the developmental trajectory of self-other cognition. Next, a conceptual model of artificial empathy is proposed based on an ADR/CDR viewpoint and discussed with respect to several existing studies. Finally, a general discussion and proposals for addressing future issues are given.
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