Psychological attitudes towards service and personal robots are selectively examined from the vantage point of psychoanalysis. Significant case studies include the uncanny valley effect, brain-actuated robots evoking magic mental powers, parental attitudes towards robotic children, idealizations of robotic soldiers, persecutory fantasies involving robotic components and systems. Freudian theories of narcissism, animism, infantile complexes, ego ideal, and ideal ego are brought to bear on the interpretation of these various items. The horizons of Human-robot Interaction are found to afford (...) new and fertile grounds for psychoanalytic theorizing beyond strictly therapeutic contexts. (shrink)

Mutually adaptive interaction involves the robot as a partner as opposed to a tool, and requires that the robot is susceptible to similar environmental cues and behavior patterns as humans are. Recognition, or the acknowledgement of the other as individual, is fundamental to mutually adaptive interaction between humans. We discuss what recognition involves and its behavioral manifestations, and describe the benefits of implementing it in HRI.

Mutually adaptive interaction involves the robot as a partner as opposed to a tool, and requires that the robot is susceptible to similar environmental cues and behavior patterns as humans are. Recognition, or the acknowledgement of the other as individual, is fundamental to mutually adaptive interaction between humans. We discuss what recognition involves and its behavioral manifestations, and describe the benefits of implementing it in HRI.

Anthropomorphism is a phenomenon that describes the human tendency to see human-like shapes in the environment. It has considerable consequences for people’s choices and beliefs. With the increased presence of robots, it is important to investigate the optimal design for this tech- nology. In this paper we discuss the potential benefits and challenges of building anthropomorphic robots, from both a philosophical perspective and from the viewpoint of empir- ical research in the fields of human–robot interaction (...) and social psychology. We believe that this broad investigation of anthropomorphism will not only help us to understand the phenomenon better, but can also indicate solutions for facil- itating the integration of human-like machines in the real world. (shrink)

The revolution of artificial intelligence (AI), particularly generative AI, and its implications for human–robot interaction (HRI) opened up the debate on crucial regulatory, business, societal, and ethical considerations. This paper explores essential issues from the anthropomorphic perspective, examining the complex interplay between humans and AI models in societal and corporate contexts. We provided a comprehensive review of existing literature on HRI, with a special emphasis on the impact of generative models such as ChatGPT. The scientometric study posits (...) that due to their advanced linguistic capabilities and ability to mimic human-like behavior, generative AIs like ChatGPT will continue to grow in popularity in pair with human rational empathy, tendency for personification and their advanced linguistic capabilities and ability to mimic human-like behavior. As they blur the boundaries between humans and robots, these models introduce fresh moral and philosophical dilemmas. Our research aims to extrapolate key trends and unique factors in HRI and to elucidate the technical aspects of generative AI that enhance its effectiveness in this field compared to traditional rule-based AI systems. We further discuss the challenges and limitations of applying generative AI in HRI, providing a future research agenda for AI optimization in diverse applications, including education, entertainment, and healthcare. (shrink)

Clark and Fischer (C&F) claim that trait attribution has major limitations in explaining human–robot interactions. We argue that the trait attribution approach can explain the three issues posited by C&F. We also argue that the trait attribution approach is parsimonious, as it assumes that the same mechanisms of social cognition apply to human–robot interaction.

In this paper, we theoretically address the relevance of unintentional and inconsistent interactional elements in human–robot interactions. We argue that elements failing, or poorly succeeding, to reproduce a humanlike interaction create significant consequences in human–robot relational patterns and may affect human–human relations. When considering social interactions as systems, the absence of a precise interactional element produces a general reshaping of the interactional pattern, eventually generating new types of interactional settings. As an instance of (...) this dynamic, we study the absence of metacommunicative abilities in social artifacts. Then, we analyze the pragmatic consequences of the aforementioned absence through the lens of Paul Watzlawick’s interactionist theory. We suggest that a fixed complementary interactional setting may be produced because of the asymmetric understanding, between robots and humans, of metacommunication. We highlight the psychological implications of this interactional asymmetry within Jessica Benjamin’s concept of “mutual recognition”. Finally, we point out the possible shift of dysfunctional interactional patterns from human–robot interactions to human–human ones. (shrink)

This paper outlines the methodology and experiments associated with the reshaping of human intentions based on robot movements within Human-Robot Interactions. Although studies on estimating human intentions are well studied in the literature, reshaping intentions through robot-initiated interactions is a new significant branching in the field of HRI. In this paper, we analyze how estimated human intentions can intentionally change through cooperation with mobile robots in real Human-Robot environments. This paper proposes (...) an intention-reshaping system that includes either the Observable Operator Models or Hidden Markov Models to estimate human intention and decide which moves a robot should perform to reshape previously estimated human intentions into desired ones. At the low level, the system needs to track the locations of all mobile agents using cameras. We test our system on videos taken in a real HRI environment that has been developed as our experimental setup. The results show that OOMs are faster than HMMs and both models give correct decisions for testing sequences. (shrink)

Gaze following occurs automatically in social interactions, but the degree to which gaze is followed depends on whether an agent is perceived to have a mind, making its behavior socially more relevant for the interaction. Mind perception also modulates the attitudes we have towards others, and deter-mines the degree of empathy, prosociality and morality invested in social interactions. Seeing mind in others is not exclusive to human agents, but mind can also be ascribed to nonhuman agents like robots, (...) as long as their appearance and/or behavior allows them to be perceived as intentional beings. Previous studies have shown that human appearance and reliable behavior induce mind perception to robot agents, and positively affect attitudes and performance in human-robot interaction. What has not been investigated so far is whether different triggers of mind perception have an independent or interactive effect on attitudes and performance in human-robot interaction. We examine this question by manipulating agent appearance (human vs. robot) and behavior (reliable vs. random) within the same paradigm and examine how congruent (human/reliable vs. robot/random) versus incongruent (human/random vs. robot/reliable) combinations of these triggers affect performance (i.e., gaze fol-lowing) and attitudes (i.e., agent ratings) in human-robot interaction. The results show that both ap-pearance and behavior affect human-robot interaction but that the two triggers seem to operate in iso-lation, with appearance more strongly impacting attitudes, and behavior more strongly affecting per-formance. The implications of these findings for human-robot interaction are discussed. (shrink)

People meeting a robot for the first time do not know what it is capable of and therefore how to interact with it—what actions to produce, and how to produce them. Despite social robotics’ long-standing interest in the effects of robots’ appearance and conduct on users, and efforts to identify factors likely to improve human–robot interaction, little attention has been paid to how participants evaluate their robotic partner in the unfolding of actual interactions. This paper draws (...) from qualitative analyses of video-recorded interactions between a robot and groups of participants, in the framework of ethnomethodology and conversation analysis. We analyse the particular ways in which participants shape their embodied actions, how they can reproduce a prior action that failed to obtain a response from the robot; and how they explore the robot’s embodied nature. We find a set of recurrent methods or practices, showing that robot-recipient design displays not only participants’ initial assumptions about the robot’s competences, but also more importantly perhaps their continuous assessment of the robot’s behaviour, and their attempts to adapt to it. Participants locally produce and constantly revise their understanding of the robot as a more or less competent co-participant, drawing from its past, current, and projected conduct and responsiveness. We discuss the implications of these findings for research in robotics and human–robot interactions, and the value of the approach to shed new light on old questions by paying attention to the quality of gesture and the sequential organisation of interaction. (shrink)

Human–robot interactions are often affected by error situations that are caused by either the robot or the human. Therefore, robots would profit from the ability to recognize when error situations occur. We investigated the verbal and non-verbal social signals that humans show when error situations occur in human–robot interaction experiments. For that, we analyzed 201 videos of five human–robot interaction user studies with varying tasks from four independent projects. The analysis (...) shows that there are two types of error situations: social norm violations and technical failures. Social norm violations are situations in which the robot does not adhere to the underlying social script of the interaction. Technical failures are caused by technical shortcomings of the robot. The results of the video analysis show that the study participants use many head movements and very few gestures, but they often smile, when in an error situation with the robot. The results suggest that participants do not see the robot as a social interaction partner with comparable communication skills. Our findings have implications for builders and evaluators of human–robot interaction systems. The builders need to consider including modules for recognition and classification of head movements to the robot input channels. The evaluators need to make sure that the presence of an experimenter does not skew the results of their user studies. (shrink)

An important tradition in philosophy holds that in order to successfully perform a joint action, the participants must be capable of establishing commitments on joint goals and shared plans. This suggests that social robotics should endow robots with similar competences for commitment management in order to achieve the objective of performing joint tasks in human-robot interactions. In this paper, we examine two philosophical approaches to commitments. These approaches, we argue, emphasize different behavioral and cognitive aspects of commitments that (...) give roboticists a way to give meaning to monitoring and pro-active signaling in joint action with human partners. To show that, we present an example of use-case with guiding robots and we sketch a framework that can be used to explore the type of capacities and behaviors that a robot may need to manage commitments. (shrink)

Objective We reviewed human–robot interaction (HRI) participatory design (PD) research with older adults. The goal was to identify methods used, determine their value for design of robots with older adults, and provide guidance for best practices. Background Assistive robots may promote aging-in-place and quality of life for older adults. However, the robots must be designed to meet older adults’ specific needs and preferences. PD and other user-centered methods may be used to engage older adults in the (...) class='Hi'>robot development process to accommodate their needs and preferences and to assure usability of emergent assistive robots. Method This targeted review of HRI PD studies with older adults draws on a detailed review of 26 articles. Our assessment focused on the HRI methods and their utility for use with older adults who have a range of needs and capabilities. Results Our review highlighted the importance of using mixed methods and including multiple stakeholders throughout the design process. These approaches can encourage mutual learning (to improve design by developers and to increase acceptance by users). We identified key phases used in HRI PD workshops (e.g., initial interview phase, series of focus groups phase, and presentation phase). These approaches can provide inspiration for future efforts. Conclusion HRI PD strategies can support designers in developing assistive robots that meet older adults’ needs, capabilities, and preferences to promote acceptance. More HRI research is needed to understand potential implications for aging-in-place. PD methods provide a promising approach. (shrink)

Negative attitudes toward robots are considered as one of the psychological factors preventing humans from interacting with robots in the daily life. To verify their influence on humans‘ behaviors toward robots, we designed and executed experiments where subjects interacted with Robovie, which is being developed as a platform for research on the possibility of communication robots. This paper reports and discusses the results of these experiments on correlation between subjects’ negative attitudes and their behaviors toward robots. Moreover, it discusses influences (...) of gender and experience of real robots on their negative attitudes and behaviors toward robots. (shrink)

Soft robots promise an exciting design trajectory in the field of robotics and human–robot interaction (HRI), promising more adaptive, resilient movement within environments as well as a safer, more sensitive interface for the objects or agents the robot encounters. In particular, tactile HRI is a critical dimension for designers to consider, especially given the onrush of assistive and companion robots into our society. In this article, we propose to surface an important set of ethical challenges for (...) the field of soft robotics to meet. Tactile HRI strongly suggests that soft-bodied robots balance tactile engagement against emotional manipulation, model intimacy on the bonding with a tool not with a person, and deflect users from personally and socially destructive behavior the soft bodies and surfaces could normally entice. (shrink)

In this paper, we move toward offering psychological benchmarks to measure success in building increasingly humanlike robots. By psychological benchmarks we mean categories of interaction that capture conceptually fundamental aspects of human life, specified abstractly enough to resist their identity as a mere psychological instrument, but capable of being translated into testable empirical propositions. Nine possible benchmarks are considered: autonomy, imitation, intrinsic moral value, moral accountability, privacy, reciprocity, conventionality, creativity, and authenticity of relation. Finally, we discuss how getting (...) the right group of benchmarks in human–robot interaction will, in future years, help inform on the foundational question of what constitutes essential features of being human. (shrink)

We used a new method called “Ghost-in-the-Machine” (GiM) to investigate social interactions with a robotic bartender taking orders for drinks and serving them. Using the GiM paradigm allowed us to identify how human participants recognize the intentions of customers on the basis of the output of the robotic recognizers. Specifically, we measured which recognizer modalities (e.g., speech, the distance to the bar) were relevant at different stages of the interaction. This provided insights into human social behavior necessary (...) for the development of socially competent robots. When initiating the drink-order interaction, the most important recognizers were those based on computer vision. When drink orders were being placed, however, the most important information source was the speech recognition. Interestingly, the participants used only a subset of the available information, focussing only on a few relevant recognizers while ignoring others. This reduced the risk of acting on erroneous sensor data and enabled them to complete service interactions more swiftly than a robot using all available sensor data. We also investigated socially appropriate response strategies. In their responses,the participants preferred to use the same modality as the customer’s requests, e.g., they tended to respond verbally to verbal requests. Also, they added redundancy to their responses, for instance by using echo questions. We argue that incorporating the social strategies discovered with the GiM paradigm in multimodal grammars of human–robot interactions improves the robustness and the ease-of-use of these interactions, and therefore provides a smoother user experience. (shrink)

This paper presents an algorithm for analyzing social situations within a robot. We contribute a method that allows the robot to use information about the situation to select interactive behaviors. This work is based on interdependence theory, a social psychological theory of interaction and interpersonal situation analysis. Experiments demonstrate the utility of the information provided by the situation analysis algorithm and of the value of this method for guiding robot interaction. We conclude that the situation (...) analysis algorithm offers a viable, principled, and general approach to explore interactive robotics problems. (shrink)

With service robots becoming more ubiquitous in social life, interaction design needs to adapt to novice users and the associated uncertainty in the first encounter with this technology in new emerging environments. Trust in robots is an essential psychological prerequisite to achieve safe and convenient cooperation between users and robots. This research focuses on psychological processes in which user dispositions and states affect trust in robots, which in turn is expected to impact the behavior and reactions in the (...) class='Hi'>interaction with robotic systems. In a laboratory experiment, the influence of propensity to trust in automation and negative attitudes toward robots on state anxiety, trust, and comfort distance toward a robot were explored. Participants were approached by a humanoid domestic robot two times and indicated their comfort distance and trust. The results favor the differentiation and interdependence of dispositional, initial, and dynamic learned trust layers. A mediation from the propensity to trust to initial learned trust by state anxiety provides an insight into the psychological processes through which personality traits might affect interindividual outcomes in human-robot interaction (HRI). The findings underline the meaningfulness of user characteristics as predictors for the initial approach to robots and the importance of considering users’ individual learning history regarding technology and robots in particular. (shrink)

The advent of the so-called Companion Robots is raising many ethical concerns among scholars and in the public opinion. Focusing mainly on robots caring for the elderly, in this paper we analyze these concerns to distinguish which are directly ascribable to robotic, and which are instead preexistent. One of these is the “deception objection”, namely the ethical unacceptability of deceiving the user about the simulated nature of the robot’s behaviors. We argue on the inconsistency of this charge, as today (...) formulated. After that, we underline the risk, for human-robot interaction, to become a hallucinatory relation where the human would subjectify the robot in a dynamic of meaning-overload. Finally, we analyze the definition of “quasi-other” relating to the notion of “uncanny”. The goal of this paper is to argue that the main concern about Companion Robots is the simulation of a human-like interaction in the absence of an autonomous robotic horizon of meaning. In addition, that absence could lead the human to build a hallucinatory reality based on the relation with the robot. (shrink)

The status and functioning of shame is contested in moral psychology. In much of anglophone philosophy and psychology, it is presumed to be largely destructive, while in Confucian philosophy and many East Asian communities, it is positively associated with moral development. Recent work in human-robot interaction offers a unique opportunity to investigate how shame functions while controlling for confounding variables of interpersonal interaction. One research program suggests a Confucian strategy for using robots to rebuke participants, but (...) results from experiments with educational technologies imply a different and potentially opposing account of shame’s role in personal development. By digging deeper into the details of Confucian theorizing about shame, I identify a unifying explanation for these apparently conflicting results. I conclude by offering suggestions for future empirical research in human-robot interactions to further investigate shame’s role in moral development. (shrink)

The focus of the following article is on the use of new robotic systems in the manufacturing industry with respect to the social dimension. Since “intuitive” human–machine interaction (HMI) in robotic systems becomes a significant objective of technical progress, new models of work organization are needed. This hypothesis will be investigated through the following two aims: The first aim is to identify relevant research questions related to the potential use of robotic systems in different systems of work organization (...) at the manufacturing shop-floor level. The second aim is to discuss the conceptualization of (old) organizational problems of human–robot interaction (HRI). In this context, the article reflects on the limits of cognitive and perceptual workload for robot operators in complex working systems. This will be particularly relevant whenever more robots with different “roles” are to be increasingly used in the manufacturing industry. The integration of such complex socio-technical systems needs further empirical and conceptual research with regard to “social” aspects of the technical dimension. Future research should, therefore, also integrate economic and societal issues to understand the full dimensions of new human–robot interaction in industry today. (shrink)

Putting laypeople in an active role as direct expert contributors in the design of service robots becomes more and more prominent in the research fields of human–robot interaction and social robotics. Currently, though, HRI is caught in a dilemma of how to create meaningful service robots for human social environments, combining expectations shaped by popular media with technology readiness. We recapitulate traditional stakeholder involvement, including two cases in which new intelligent robots were conceptualized and realized for (...) close interaction with humans. Thereby, we show how the robot narrative together with aspects of power balancing stakeholders, such as hardware constraints and missing perspectives beyond primary users, and the adaptivity of robots through machine learning that creates unpredictability, pose specific challenges for participatory design processes in HRI. We conclude with thoughts on a way forward for the HRI community in developing a culture of participation that considers humans when conceptualizing, building, and using robots. (shrink)

This paper argues that there is a need to critically assess bias in the representations of older adults in the field of Human–Robot Interaction. This need stems from the recognition that technology development is a socially constructed process that has the potential to reinforce problematic understandings of older adults. Based on a qualitative content analysis of 96 academic publications, this paper indicates that older adults are represented as; frail by default, independent by effort; silent and technologically illiterate; (...) burdensome; and problematic for society. Within these documents, few counternarratives are present that do not take such essentialist representations. In these texts, the goal of social robots in elder care is to “enable” older adults to “better” themselves. The older body is seen as “fixable” with social robots, reinforcing an ageist and neoliberal narrative: older adults are reduced to potential care receivers in ways that shift care responsibilities away from the welfare state onto the individual. (shrink)

To address the tension between demands for more transparent AI systems and the aim to develop and design robots with apparent agency for smooth and intuitive human-robot interaction (HRI), we present in this paper an argument for why explainability in HRI would benefit from being question-centered. First, we review how explainability has been discussed in AI and HRI respectively, to then present the challenge in HRI to accommodate the requirement of transparency while also keeping up the appearance (...) of the robot as a social agent. Based on the conceptualization of questions as information-seeking acts, our proposal for a question-centered approach to explainable HRI (xHRI) implies that to ensure transparency, robots shall provide explanations upon request in the form of questioning. We end this paper by laying out a preliminary taxonomy of xHRI-relevant questions that present the kinds of explanations a robot can or should be able to provide for successful and transparent HRI. (shrink)

To integrate social robots in real-life contexts, it is crucial that they are accepted by the users. Acceptance is not only related to the functionality of the robot but also strongly depends on how the user experiences the interaction. Established design principles from usability and user experience research can be applied to the realm of human–robot interaction, to design robot behavior for the comfort and well-being of the user. Focusing the design on these aspects (...) alone, however, comes with certain ethical challenges, especially regarding the user’s privacy and autonomy. Based on an example scenario of human–robot interaction in elder care, this paper discusses how established design principles can be used in social robotic design. It then juxtaposes these with ethical considerations such as privacy and user autonomy. Combining user experience and ethical perspectives, we propose adjustments to the original design principles and canvass our own design recommendations for a positive and ethically acceptable social human–robot interaction design. In doing so, we show that positive user experience and ethical design may be sometimes at odds, but can be reconciled in many cases, if designers are willing to adjust and amend time-tested design principles. (shrink)

New forms of artificial intelligence on the one hand and the ubiquitous networking of “everything with everything” on the other hand characterize the fourth industrial revolution. This results in a changed understanding of human–machine interaction, in new models for production, in which man and machine together with virtual agents form hybrid teams. The empirical study “Socializing with robots” aims to gain insight especially into conditions of development and processes of hybrid human–machine teams. In the experiment, human– (...) class='Hi'>robot actions and interactions were closely observed in a virtual environment. Robots as partners differed in shape and behavior. Participants were instructed to achieve an objective that could only be achieved via close teamwork. This paper unites different aspects from core disciplines of social robotics and psychology contributing to anthropomorphization with the empirical insights of the experiment. It focuses on the psychological effects on anthropomorphization and mechanization, taking the inter- and transdisciplinary field of social robotics as a starting point. (shrink)

For a robot to cohabit with people, it should be able to learn people’s nonverbal social behavior from experience. In this paper, we propose a novel machine learning method for recognizing gestures used in interaction and communication. Our method enables robots to learn gestures incrementally during human–robot interaction in an unsupervised manner. It allows the user to leave the number and types of gestures undefined prior to the learning. The proposed method (HB-SOINN) is based on (...) a self-organizing incremental neural network and the hidden Markov model. We have added an interactive learning mechanism to HB-SOINN to prevent a single cluster from running into a failure as a result of polysemy of being assigned more than one meaning. For example, a sentence: “Keep on going left slowly” has three meanings such as, “Keep on (1)”, “going left (2)”, “slowly (3)”. We experimentally tested the clustering performance of the proposed method against data obtained from measuring gestures using a motion capture device. The results show that the classification performance of HB-SOINN exceeds that of conventional clustering approaches. In addition, we have found that the interactive learning function improves the learning performance of HB-SOINN. (shrink)

Drawing from two strands of ecological psychology, we suggest that even if social robots are interactive depictions, people need not mentally represent them as such. Rather, people can engage with the opportunities for action or affordances that social robots offer to them. These affordances are constrained by the larger sociocultural settings within which human–robot interactions occur.

In recent developments in Artificial Intelligence and especially in robotics we can observe a tendency towards building intelligent artefacts that are meant to be social, to have ‘human social’ characteristics like emotions, the ability to conduct dialogue, to learn, to develop personality, character traits, and social competencies. Care, entertainment, pet and educational robots are conceptualised as friendly, understanding partners and credible assistants which communicate ‘naturally’ with users, show emotions and support them in everyday life. Social robots are often designed (...) to interact physically, affectively and socially with humans in order to learn from them. To achieve this goal, roboticists often model the human‐robot interaction on early caregiver‐infant interactions. In this paper I want to analyse prominent visions of these ‘socio‐emotional’ machines as well as early prototypes and commercial products with regard to the human‐machine interface. By means of this I will ask how feminist critiques of technology could be applied to the field of social robotics in which concepts like sociality or emotion are crucial elements while, at the same time, these concepts play an important role in feminist critiques of technology. (shrink)

There are two dominant trends in the humanitarian care of 2019: the ‘technologizing of care’ and the centrality of the humanitarian principles. The concern, however, is that these two trends may conflict with one another. Faced with the growing use of drones in the humanitarian space there is need for ethical reflection to understand if this technology undermines humanitarian care. In the humanitarian space, few agree over the value of drone deployment; one school of thought believes drones can provide a (...) utility serving those in need while another believes the large scale deployment of drones will exacerbate the already prevalent issues facing humanitarian aid providers. We suggest in this paper that the strength of the humanitarian principles approach to answer questions of aid provision can be complimented by a technology-facing approach, namely that of robot ethics. We have shown that for humanitarian actors we ought to be concerned with the risks of a loss of contextualization and de-skilling. For the beneficiary, we raise three concerns associated with the threat to the principle of humanity for this group: a loss of dignity by reducing human-to-human interactions; a threat to dignity through a lack of informational transparency; and, a threat to dignity by failing to account for the physiological and behavioral impacts of the drone on human actors. Although we acknowledge the obstacles associated with understanding the physiological and behavioral impacts we insist that the moral acceptability and desirability of drones in humanitarian contexts is dependent on the findings from such studies and that tailored ethical guidelines for drone deployment in humanitarian action be created to reflect the results of such studies. (shrink)

Previous research has shown that the perception that one’s partner is investing effort in a joint action can generate a sense of commitment, leading participants to persist longer despite increasing boredom. The current research extends this finding to human-robot interaction. We implemented a 2-player version of the classic snake game which became increasingly boring over the course of each round, and operationalized commitment in terms of how long participants persisted before pressing a ‘finish’ button to conclude each (...) round. Participants were informed that they would be linked via internet with their partner, a humanoid robot. Our results reveal that participants persisted longer when they perceived what they believed to be cues of their robot partner’s effortful contribution to the joint action. This provides evidence that the perception of a robot partner’s effort can elicit a sense of commitment to human-robot interaction. (shrink)

Functional near infrared spectroscopy has been gaining increasing interest as a practical mobile functional brain imaging technology for understanding the neural correlates of social cognition and emotional processing in the human prefrontal cortex. Considering the cognitive complexity of human-robot interactions, the aim of this study was to explore the neural correlates of emotional processing of congruent and incongruent pairs of human and robot audio-visual stimuli in the human PFC with fNIRS methodology. Hemodynamic responses from (...) the PFC region of 29 subjects were recorded with fNIRS during an experimental paradigm which consisted of auditory and visual presentation of human and robot stimuli. Distinct neural responses to human and robot stimuli were detected at the dorsolateral prefrontal cortex and orbitofrontal cortex regions. Presentation of robot voice elicited significantly less hemodynamic response than presentation of human voice in a left OFC channel. Meanwhile, processing of human faces elicited significantly higher hemodynamic activity when compared to processing of robot faces in two left DLPFC channels and a left OFC channel. Significant correlation between the hemodynamic and behavioral responses for the face-voice mismatch effect was found in the left OFC. Our results highlight the potential of fNIRS for unraveling the neural processing of human and robot audio-visual stimuli, which might enable optimization of social robot designs and contribute to elucidation of the neural processing of human and robot stimuli in the PFC in naturalistic conditions. (shrink)

To realize a successful and collaborative interaction between human and robots remains a big challenge. Emotional reactions of the user provide crucial information for a successful interaction. These reactions carry key factors to prevent errors and fatal bidirectional misunderstanding. In cases where human–machine interaction does not proceed as expected, negative emotions, like frustration, can arise. Therefore, it is important to identify frustration in a human–machine interaction and to investigate its impact on other influencing (...) factors such as dominance, sense of control and task performance. This paper presents a study that investigates a close cooperative work situation between human and robot, and explore the influence frustration has on the interaction. The task for the participants was to hand over colored balls to two different robot systems. The robot systems had to throw the balls into appropriate baskets. The coordination between human and robot was controlled by various gestures and words by means of trial and error. Participants were divided into two groups, a frustration- and a no frustration- group. Frustration was induced by the behavior of the robotic systems which made errors during the ball handover. Subjective and objective methods were used. The sample size of participants was N = 30 and the study was conducted in a between-subject design. Results show clear differences in perceived frustration in the two condition groups and different behavioral interactions were shown by the participants. Furthermore, frustration has a negative influence on interaction factors such as dominance and sense of control. The study provides important information concerning the influence of frustration on human–robot interaction for the requirements of a successful, natural, and social HRI. The results are discussed in favor of how a successful und effortless interaction between human and robot can be realized and what relevant factors, like appearance of the robot and influence of frustration on sense of control, have to be regarded. (shrink)

Identifying links between human personality and attributed robot personality is a relatively new area of human–robot interaction. In this paper we report on an exploratory study that investigates human and robot personality traits as part of a human–robot interaction trial. The trials took place in a simulated living-room scenario involving 28 participants and a human-sized robot of mechanical appearance. Participants interacted with the robot in two task scenarios (...) relevant to a ‘robot in the home’ context. It was found that participants’ evaluations of their own personality traits are related to their evaluations of the robot’s personality traits. The statistical analysis of questionnaire data yields several statistically significant results: Participants do not tend to assign their personality traits to match the robots’, For individual personality traits, participants rated themselves as having stronger personality characteristics compared to the robot, Specific significant correlations were found between participants’ and robot personality traits, and Significant group differences for participant gender, age and technological background are highlighted. The results are discussed in light of developing personalized robot companions. (shrink)

The first Young Researchers in Human–Robot Interaction Workshop, held on March 1, 2006 in Salt Lake City, Utah, provides insight into how to facilitate the establishment of the HRI community. Organized in conjunction with the first annual ACM/IEEE Human Robot Interaction Conference, the NSF-sponsored workshop assembled 15 graduate students from 5 different countries in computer science, psychology, engineering, and the arts to build the HRI community. This report highlights recommendations from discussion sessions, a synopsis (...) of the plenary address, and representative examples of the participants’ presentations. Participants emphasized that HRI is a unique field, requiring knowledge in computing, psychology, and communications despite the differences in the courses, methods, and philosophies across disciplines. The following are needed for future growth in HRI: stable, canonical robotics platforms for research purposes, a multidisciplinary community infrastructure to connect researchers, and a “Berlitz phrasebook” and collected reference materials for helping understand the “other” disciplines. (shrink)

Studies of human–human interactions indicate that relational dimensions, which are largely nonverbal, include intimacy/involvement, status/control, and emotional valence. This paper devises codes from a study of couples and strangers which may be behavior-mapped on to next generation android bodies. The codes provide act specifications for a possible benchmark of nonverbal intimacy in human–robot interaction. The appropriateness of emotionally intimate behaviors for androids is considered. The design and utility of the android counselor/psychotherapist is explored, whose body (...) is equipped with semi-autonomous visceral and behavioral capacities for ‘doing intimacy.’. (shrink)

Trust is a key dimension of human-robot interaction, and has often been studied in the HRI community. A common challenge arises from the difficulty of assessing trust levels in ecologically invalid environments: we present in this paper two independent laboratory studies, totalling 160 participants, where we investigate the impact of different types of errors on resulting trust, using both behavioural and subjective measures of trust. While we found a general effect of errors on reported and observed level (...) of trust, no significant differences between the type of errors were found in either of our studies. We discuss this negative result in light of our experimental protocols, and argue for the community to move towards alternative methodologies to assess trust. (shrink)

Based on an integrated theoretical framework, this study analyzes user acceptance behavior toward socially interactive robots focusing on the variables that influence the users' attitudes and intentions to adopt robots. Individuals' responses to questions about attitude and intention to use robots were collected and analyzed according to different factors modified from a variety of theories. The results of the proposed model explain that social presence is key to the behavioral intention to accept social robots. The proposed model shows the significant (...) roles of perceived adaptivity and sociability, both of which affect attitude as well as influence perceived usefulness and perceived enjoyment, respectively. These factors can be key features of users' expectations of social robots, which can give practical implications for designing and developing meaningful social interaction between robots and humans. The new set of variables is specific to social robots, acting as factors that enhance attitudes and behavioral intentions in human-robot interactions. Keywords: Robot acceptance model; Socially interactive robots; Social robots; Social presence. (shrink)

Based on an integrated theoretical framework, this study analyzes user acceptance behavior toward socially interactive robots focusing on the variables that influence the users’ attitudes and intentions to adopt robots. Individuals’ responses to questions about attitude and intention to use robots were collected and analyzed according to different factors modified from a variety of theories. The results of the proposed model explain that social presence is key to the behavioral intention to accept social robots. The proposed model shows the significant (...) roles of perceived adaptivity and sociability, both of which affect attitude as well as influence perceived usefulness and perceived enjoyment, respectively. These factors can be key features of users’ expectations of social robots, which can give practical implications for designing and developing meaningful social interaction between robots and humans. The new set of variables is specific to social robots, acting as factors that enhance attitudes and behavioral intentions in human–robot interactions. Keywords: Robot acceptance model; Socially interactive robots; Social robots; Social presence. (shrink)

Human instructors often refer to objects and actions involved in a task description using both linguistic and non-linguistic means of communication. Hence, for robots to engage in natural human-robot interactions, we need to better understand the various relevant aspects of human multi-modal task descriptions. We analyse reference resolution to objects in a data collection comprising two object manipulation tasks and find that 78.76% of all referring expressions to the objects relevant in Task 1 are verbally underspecified (...) and 88.64% of all referring expressions are verbally underspecified in Task 2. The data strongly suggests that a language processing module for robots must be genuinely multi-modal, allowing for seamless integration of information transmitted in the verbal and the visual channel, whereby tracking the speaker’s eye gaze and gestures as well as object recognition are necessary preconditions. (shrink)

During the last decade, children have shown an increasing need for mental wellbeing interventions due to their anxiety and depression issues, which the COVID-19 pandemic has exacerbated. Socially Assistive Robotics have been shown to have a great potential to support children with mental wellbeing-related issues. However, understanding how robots can be used to aid the measurement of these issues is still an open challenge. This paper presents a narrative review of child-robot interaction (cHRI) papers (IEEE ROMAN proceedings from (...) 2016–2021 and keyword-based article search using Google Scholar) to investigate the open challenges and potential knowledge gaps in the evaluation of mental wellbeing or the assessment of factors affecting mental wellbeing in children. We exploited the SPIDER framework to search for the key elements for the inclusion of relevant studies. Findings from this work (10 screened papers in total) investigate the challenges in cHRI studies about mental wellbeing by categorising the current research in terms of robot-related factors (robot autonomy and type of robot), protocol-related factors (experiment purpose, tasks, participants and user sensing) and data related factors (analysis and findings). The main contribution of this work is to highlight the potential opportunities for cHRI researchers to carry out measurements concerning children’s mental wellbeing. (shrink)

The import of computational learning theories and techniques on the ethics of human-robot interaction is explored in the context of recent developments of personal robotics. An epistemological reflection enables one to isolate a variety of background hypotheses that are needed to achieve successful learning from experience in autonomous personal robots. The conjectural character of these background hypotheses brings out theoretical and practical limitations in our ability to predict and control the behaviour of learning robots in their interactions (...) with humans. Responsibility ascription problems, which concern damages caused by learning robot actions, are analyzed in the light of these epistemic limitations. Finally, a broad framework is outlined for ethically motivated scientific inquiries, which aim at improving our capability to understand, anticipate, and selectively cope with harmful errors by learning robots. (shrink)

In an experimental study of humans reactions to social motor intention in a humanoid robot, we showed that SMI cause the emergence of social interaction between human and robot. We investigated whether people would respond differently to a humanoid robot depending on the kinematic profile of its movement. A robot placed a block on a table in front of a human subject in three different ways. We designed the robot’s arm and upper (...) body movements to manifest the human kinematic profile of either a non-social motor intention or a social motor intention. In the control condition the robot performed an irregular movements. Once the robot had finished its task, the task of the human was to place another block on top of the first one. We distinguishedbetween social and non-social responses to the robot’s behavior based in gaze behavior and kinematic profile of the human’s arm movement during the task. Our results show that the behavior of the human can be modulated by the kinematics of a robot’s motor action. In several cases the participants reciprocated movements displaying social motor intention with movements with a similar kind of kinematics, attempting to make eye contact during the task. This shows that HRI can emerge implicitly by sensorimotor processing and suggests that implementing a mechanism for social-motor intention in social robots designed to interact spontaneously would be useful. (shrink)