Background
Related work
A robot partner system
Problems
The robot partner: iPhonoid-C
Nonverbal communication part
Stimulus | Input information | Classification criteria |
---|---|---|
Cognitive mode | Human gesture, touch information, touch finger radius, human detection, human distance | Rational category (behavior) |
Emotional mode | Human gesture, color information, smile state, gender information, racial information | Emotional category (action) |
Behavioral mode | Proximity sensor status, input sound magnitude, shake motion, compass direction, battery state | Instinctive category (act) |
Input information | Parameters (sampling interval: every 0.5 s) | Output value | Sensor label |
---|---|---|---|
Display touch | Tap, long press, swipe (up, down, left, right) | 0 or 1 |
\(C_{in,1}\)
|
Touched finger radius | 20–100 | 0.0–1.0 |
\(C_{in,2}\)
|
Human detection | Human or nobody | 0 or 1 |
\(C_{in,3}\)
|
Human distance | 1.5–0.1 m | 0.0–1.0 |
\(C_{in,4}\)
|
Human gesture | Hand up down, left right, circling | 0 or 1 |
\(C_{in,5}, E_{in,1}\)
|
Object color | Skin, red, blue | 0 or 1 |
\(E_{in,2}\)
|
Smile | Smiling or not | 0 or 1 |
\(E_{in,3}\)
|
Gender | Female or male | 0 or 1 |
\(E_{in,4}\)
|
Race | Asian or non-Asian | 0 or 1 |
\(E_{in,5}\)
|
Proximity sensor | Nothing or covering | 0 or 1 |
\(B_{in,1}\)
|
Input sound magnitude | Volume level: −120 (min) to 0 (max) | 0.0–1.0 |
\(B_{in,2}\)
|
Body shake | Shaking or not | 0 or 1 |
\(B_{in,3}\)
|
Compass direction | North to south | 0.0–1.0 |
\(B_{in,4}\)
|
Battery status | Battery level | 0.0–1.0 |
\(B_{in,5}\)
|
Verbal communication part
Emotional model for communication system
The system concept: Cognitive–Emotional–Behavioral model
Cognitive–Emotional–Behavioral model
Item | Contents |
---|---|
Cognitive approach | It uses mainly cognitive stimuli based on the robot’s sensory information. This mode uses limited emotional state for human robot interaction, it is similar to the human’s poker face mode. Therefore, facial expression usually uses small level. At this time, robot gesture meaning is defined as “behavior” |
Emotional approach | It uses mainly emotional stimuli. This mode uses more rich emotional state for human robot interaction. At this time, robot gesture meaning is defined as “action” |
Behavioral approach | It uses mainly behavioral stimuli. This mode mainly consider gestural expression. For example, when human says greeting to robot, the robot usually used gesture rather than speech. It considers bigger robot gestures than the cognitive and emotional approaches based on sensory information. At this time, robot gesture meaning is defined as “act” |
Implementation of C–E–B model for the robot partner
Cognitive | Emotional | Behavioral | |
---|---|---|---|
Utterance | Rational utterance (\(a_{1,1} = 0.6\)) | Emotional speech (\(a_{1,2} = 0.4\)) | Instinctive utterance (\(a_{1,3} = 0.5\)) |
Emotional expression | Rational expression (\(a_{2,1} = 0.5\)) | Emotional expression (\(a_{2,2} = 0.6\)) | Instinctive emotion (\(a_{2,3} = 0.4\)) |
Behavior expression | Rational behavior (\(a_{3,1} = 0.4\)) | Emotional behavior (\(a_{3,2} = 0.5\)) | Instinctive behavior (\(a_{3,3} = 0.6\)) |
\(C_{out}\)
|
\(E_{out}\)
|
\(B_{out}\)
| |
---|---|---|---|
Small | Low utterance quantity | Happy, Angry | Low LMA gesture level |
Medium | Middle utterance quantity | Happy, Angry, Sad, Fearful | Middle LMA gesture level |
Large | High utterance quantity | Happy, Surprise, Angry, Disgust, Sad, Frightened, Fearful, Thrilling | High LMA gesture level |
Experimental results
The difference of interaction style by C–E–B model
\(C_{out}(t)\)
|
\(E_{out}(t)\)
|
\(B_{out}(t)\)
| |
---|---|---|---|
\(C_{out}(t-1)\)
| – | 18.2% | 18.2% |
\(E_{out}(t-1)\)
| 9% | – | 18.2% |
\(B_{out}(t-1)\)
| 18.2% | 18.2% | – |
Interaction results
Group | Personal information | C (%) | E (%) | B (%) |
---|---|---|---|---|
iPhonoid-C | Age: 20s, Hometown: Tokyo | 0 | 86 | 14 |
iPhonoid-D | Age: 30s, Hometown: Daegu | 6 | 91 | 3 |
No | Human utterance | Robot utterance | Utterance system | Emotional state | C–E–B mode |
---|---|---|---|---|---|
HS1 | (Human approaching) | (Human detecting) | – | Neutral | Behavioral |
HS2 | Hello | Lonely day today, isn’t it? | Conversation flow (CFUS) | Neutral | Emotional |
HS3 | Yes, I think so | Good to see you | Conversation flow (CFUS) | Neutral | Emotional |
HS4 | I am happy to meet you | Is it okay? | Conversation flow (CFUS) | Neutral | Emotional |
HS5 | I am happy to meet you | I will prepare food later | Conversation flow (CFUS) | Neutral | Emotional |
HS6 | Really, I want | Hi | Conversation flow (CFUS) | Neutral | Emotional |
HS7 | How are you doing? | I am good | Sentence building (SBUS) | Neutral | Emotional |
HS8 | I am also happy to meet you | Shall we start? | Conversation flow (CFUS) | Happy | Emotional |
HS9 | What are you doing now? | I am reading data now | Sentence building (SBUS) | Happy | Emotional |
HS10 | How about Mr. Woo? | Mr. Woo is online | Sentence building (SBUS) | Happy | Emotional |
HS11 | Really? | I feel happy | Sentence building (SBUS) | Neutral | Behavioral |
HS12 | Okay | I am lonely I am still alone | Sentence building (SBUS) | Happy | Emotional |
HS13 | Lonely | Okay see you bye-bye | Sentence building (SBUS) | Happy | Emotional |
HS14 | Bye bye | What is the matter? | Conversation flow (CFUS) | Happy | Emotional |
No | Human utterance | Robot utterance | Utterance system | Emotional state | C–E–B mode |
---|---|---|---|---|---|
HS1 | (Human approaching) | (Human detecting) | – | Neutral | Emotional |
HS2 | Hello | I have a bad cold | Conversation flow (CFUS) | Neutral | Emotional |
HS3 | Are you okay? | Yes, I am | Sentence building (SBUS) | Neutral | Emotional |
HS4 | That is good | Why are you frequently sick? | Conversation flow (CFUS) | Neutral | Emotional |
HS5 | I am not sure | I am little lonely | Conversation flow (CFUS) | Neutral | Emotional |
HS16 | What is your name? | My name is iPhonoid-C | Sentence building (SBUS) | Surprise | Emotional |
HS17 | Thank you very much | You speak English very well | Conversation flow (CFUS) | Surprise | Emotional |
HS18 | Thank you | All are fine | Conversation flow (CFUS) | Surprise | Emotional |
HS24 | Yes, good | Hello | Conversation flow (CFUS) | Angry | Cognitive |
HS25 | Are you okay? | Yes, I am | Sentence building (SBUS) | Happy | Emotional |
HS26 | Great | What’s new? | Conversation flow (CFUS) | Happy | Emotional |
HS27 | I have some schedule | Can you do? | Conversation flow (CFUS) | Happy | Emotional |
HS28 | Yes, no problem | You speak English very well | Conversation flow (CFUS) | Happy | Emotional |
Discussion
Methodology of system design by smart device
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Hardware structure The robot partner is divided into two hardware parts such as smart device and body structure. Smart device part is responsible for robot soft system such as sensory information, conversation, and others. The robot also has facial expression and touch interaction by using touch screen. This robot system already has a telecommunication companies network based on the smart device. Thus, the robot can support the information anytime and anywhere. Body structure part is responsible for the body movement. The robot body was made by 3D printer. The drawing of robot part can be shared and made for various robot designs by the user. Therefore, the hardware design can be configured more freely. For example, “iPhonoid-D” is a modified design from “iPhonoid-C” in order to realize a personalized design.
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Software system We can easily design a robot system according to purpose by using software such as verbal and nonverbal communication, and emotion model based on C–E–B model. The robot can use various embedded sensory information for perception by smart device without any additional cost. In this paper, we defined fourteen sensory information to control the robot’s C–E–B mode. Thus, the robot has various interaction differences by user and environmental information.