Abstract
In human-robot interaction, natural and intuitive communication between robot and human is one of the most important research topics. Emotion plays a crucial role to make natural and social interactions. Research has focused more on robots’ appearances and facial emotional expressions, but little research has investigated robots’ voices and their mixed effects with robot types and different emotions for users to perceive robots’ emotional states. In this study, anthropomorphic and zoomorphic robots, four different voice types, and seven different emotional voices were used as mixed factors to discuss how these influence users’ perception on robots’ emotional expression and other characteristics. Sixteen participants were asked to read fairy tales to robots and determine robots’ emotional states when the robots verbally responded. Overall, the anthropomorphic robot (Nao) was preferred over the zoomorphic robot (Pleo), but this appearance did not influence emotion recognition accuracy or other robot characteristics. Participants showed lower accuracy in recognizing negative emotions with high arousal: anger, fear, and disgust. TTS was rated lower than other human voices in all robot characteristics, such as warmth, honesty, trustworthiness, and naturalness. Implications and design directions are discussed with the results.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Dautenhahn, K., Woods, S., Kaouri, C., Walters, M.L., Koay, K.L., Werry, I.: What is a robot companion-friend, assistant or butler? In: Proceedings of the International Conference on Intelligent Robots and Systems 2005, IEEE/RSJ, pp. 1192–1197 (2005)
Vu, C., Cross, M., Bickmore, T., Gruber, A., Campbell, L.: U.S. Patent No. 8,935,006. In: U.S. Patent and Trademark Office, Washington, DC (2015)
Wrede, B., et al.: Research issues for designing robot companions: BIRON as a case study (2004)
Schirmer, A., Adolphs, R.: Emotion perception from face, voice, and touch: comparisons and convergence. Trends Cogn. Sci. 21(3), 216–228 (2017)
Lohse, M., Hegel, F., Swadzba, A., Rohlfing, K., Wachsmuth, S., Wrede, B.: What can I do for you? Appearance and application of robots. Proc. AISB 7, 121–126 (2007)
Seyama, I., Nagayama, S.: The uncanny valley: effect of realism on the impression of artificial human faces. Teleoperators Virtual Environ. 16(4), 337–351 (2007)
Li, D., Rau, P., Li, Y.: A cross-cultural study: effect of robot appearance and task. Int. J. Soc. Robot. 2(2), 175–186 (2010)
Hosseini, F., Hilliger, S., Barnes, J., Jeon, M., Park, H., Howard, M.: Love at first sight: mere exposure to robot appearance leaves impressions similar to interactions with physical robots. In: Proceedings of the 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pp. 615–620. IEEE (2017)
Barnes, J., FakhrHosseini, M., Jeon, M., Park, H., Howard, A.: The influence of robot design on acceptance of social robots. In: Proceedings of the 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp. 51–55. IEEE (2017)
Hegel, F., Krach, S., Kircher, T., Wrede, B., Sagerer, G.: Understanding social robots: a user study on anthropomorphism. In: Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, Roman, pp. 574–579. IEEE (2008)
Bachorowski, J., Owren, M.: Sounds of emotion: production and perception of affect-related vocal acoustics. Ann. New York Acad. Sci. 1000(1), 244–265 (2003)
Fischer, K., Jung, M., Jensen, L.: Emotion expression in HRI – when and why. In: Proceedings of the 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI) (2019)
Frith, D., Frith, U.: The neural basis of mentalizing. Neuron 50(4), 531–534 (2006)
Calvo, A., D’Mello, S.: Affect detection: an interdisciplinary review of models, methods, and their applications. IEEE Trans. Affect. Comput. 1(1), 18–37 (2010)
Schirmer, A., Adolphs, R.: Emotion perception from face, voice, and touch: Comparisons and convergence. Trends Cogn. Sci 21(3), 216–228 (2017)
Williams, G., Watts, N., MacLeod, C., Mathews, A.: Cognitive Psychology and Emotional Disorders. John Wiley & Sons, Oxford (1988)
Barnes, J., Richie, E., Lin, Q., Jeon, M., Park, H.: Emotive voice acceptance in human-robot interaction. In: Proceedings of the 24th International Conference on Auditory Display (2018)
Jeon, Myounghoon, Rayan, Infantdani A.: The effect of physical embodiment of an animal robot on affective prosody recognition. In: Jacko, Julie A. (ed.) HCI 2011. LNCS, vol. 6762, pp. 523–532. Springer, Heidelberg (2011). https://doi.org/10.1007/978-3-642-21605-3_57
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Ko, S. et al. (2020). The Effects of Robot Appearances, Voice Types, and Emotions on Emotion Perception Accuracy and Subjective Perception on Robots. In: Stephanidis, C., Kurosu, M., Degen, H., Reinerman-Jones, L. (eds) HCI International 2020 - Late Breaking Papers: Multimodality and Intelligence. HCII 2020. Lecture Notes in Computer Science(), vol 12424. Springer, Cham. https://doi.org/10.1007/978-3-030-60117-1_13
Download citation
DOI: https://doi.org/10.1007/978-3-030-60117-1_13
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-60116-4
Online ISBN: 978-3-030-60117-1
eBook Packages: Computer ScienceComputer Science (R0)