Skip to main content

2018 | OriginalPaper | Buchkapitel

Emotion-Aware Teaching Robot: Learning to Adjust to User’s Emotional State

verfasst von : Frosina Stojanovska, Martina Toshevska, Vesna Kirandziska, Nevena Ackovska

Erschienen in: ICT Innovations 2018. Engineering and Life Sciences

Verlag: Springer International Publishing

Aktivieren Sie unsere intelligente Suche um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

Robots today are taking more and more complex roles thus they are getting smarter and more human-like. One complex function, specific to social robots, is the role of robots in human-robot interaction. They are helpful in the process of social human-robot interaction while performing a specific task like teaching, assisting, entertaining, etc. The ability to recognize emotions has a significant role for social robots. A robot that can understand emotions could be able to interact according to that emotion. In this paper, we propose a model for robotic behavior adapting to the user’s emotions. The humanoid robot Nao is used in the role of emotion-aware teacher for teaching math. Its main purpose is to teach and entertain the user while adapting its behavior to the user’s emotional state derived from the facial expression. The robot uses reinforcement learning to learn which action to perform in a specific emotional state. It employs the Q-learning algorithm, maximizing the next action’s award - a value that depends on the current emotional state of the user. An experimental study with a selected group of subjects is conducted to assess the proposed behavior. We evaluated the robot’s ability to recognize emotions and the subjects’ experience of interacting with the robot.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

Literatur
1.
Zurück zum Zitat Ahmad, M.I., Mubin, O., Shahid, S., Orlando, J.: Emotion and memory model for a robotic tutor in a learning environment. In: Proceedings of the ISCA workshop on Speech and Language Technology in Education, Stockholm, pp. 26–32 (2017) Ahmad, M.I., Mubin, O., Shahid, S., Orlando, J.: Emotion and memory model for a robotic tutor in a learning environment. In: Proceedings of the ISCA workshop on Speech and Language Technology in Education, Stockholm, pp. 26–32 (2017)
3.
Zurück zum Zitat Anil, J., Suresh, L.P.: Literature survey on face and face expression recognition. In: International Conference on Circuit, Power and Computing Technologies, pp. 1–6 (2016) Anil, J., Suresh, L.P.: Literature survey on face and face expression recognition. In: International Conference on Circuit, Power and Computing Technologies, pp. 1–6 (2016)
4.
Zurück zum Zitat Arriaga, O., Valdenegro-Toro, M., Plöger, P.: Real-time convolutional neural networks for emotion and gender classification. arXiv:1710.07557 (2017) Arriaga, O., Valdenegro-Toro, M., Plöger, P.: Real-time convolutional neural networks for emotion and gender classification. arXiv:​1710.​07557 (2017)
5.
Zurück zum Zitat Boboc, R.G., Horaţiu, M., Talabă, D.: An educational humanoid laboratory tour guide robot. Procedia-Soc. Behav. Sci. 141, 424–430 (2014)CrossRef Boboc, R.G., Horaţiu, M., Talabă, D.: An educational humanoid laboratory tour guide robot. Procedia-Soc. Behav. Sci. 141, 424–430 (2014)CrossRef
6.
Zurück zum Zitat Bozinovski, S.: A self-learning system using secondary reinforcement. In: Cybernetics and Systems Research Proceedings of the 6th European Meeting on Cybernetics and Systems Research, pp. 397–402 (1982) Bozinovski, S.: A self-learning system using secondary reinforcement. In: Cybernetics and Systems Research Proceedings of the 6th European Meeting on Cybernetics and Systems Research, pp. 397–402 (1982)
7.
Zurück zum Zitat van Breemen, A., Yan, X., Meerbeek, B.: iCat: an animated user-interface robot with personality. In: Proceedings of the 4th International Joint Conference on Autonomous Agents and Multiagent Systems, pp. 143–144. ACM (2005) van Breemen, A., Yan, X., Meerbeek, B.: iCat: an animated user-interface robot with personality. In: Proceedings of the 4th International Joint Conference on Autonomous Agents and Multiagent Systems, pp. 143–144. ACM (2005)
8.
Zurück zum Zitat Broadbent, E.: Interactions with robots: the truths we reveal about ourselves. Annu. Rev. Psychol. 68, 627–652 (2017)CrossRef Broadbent, E.: Interactions with robots: the truths we reveal about ourselves. Annu. Rev. Psychol. 68, 627–652 (2017)CrossRef
9.
Zurück zum Zitat Callejas-Cuervo, M., Martínez-Tejada, L.A., Alarcón-Aldana, A.C.: Emotion recognition techniques using physiological signals and video games-systematic review. Revista Facultad de Ingeniería 26(46), 19–28 (2017)CrossRef Callejas-Cuervo, M., Martínez-Tejada, L.A., Alarcón-Aldana, A.C.: Emotion recognition techniques using physiological signals and video games-systematic review. Revista Facultad de Ingeniería 26(46), 19–28 (2017)CrossRef
10.
Zurück zum Zitat Canales, L., Martínez-Barco, P.: Emotion detection from text: a survey. In: Proceedings of the Workshop on Natural Language Processing in the 5th Information Systems Research Working Days (JISIC), pp. 37–43 (2014) Canales, L., Martínez-Barco, P.: Emotion detection from text: a survey. In: Proceedings of the Workshop on Natural Language Processing in the 5th Information Systems Research Working Days (JISIC), pp. 37–43 (2014)
11.
Zurück zum Zitat Chen, A., et al.: Developing a robotic tutor to teach math skills to children (2017) Chen, A., et al.: Developing a robotic tutor to teach math skills to children (2017)
12.
Zurück zum Zitat Dautenhahn, K.: Kaspar-a minimally expressive humanoid robot for human-robot interaction research. App. Bionics Biomech. 6(3–4), 369–397 (2009)CrossRef Dautenhahn, K.: Kaspar-a minimally expressive humanoid robot for human-robot interaction research. App. Bionics Biomech. 6(3–4), 369–397 (2009)CrossRef
13.
Zurück zum Zitat Davison, D., Schindler, L., Reidsma, D.: Physical extracurricular activities in educational child-robot interaction. arXiv preprint arXiv:1606.02736 (2016) Davison, D., Schindler, L., Reidsma, D.: Physical extracurricular activities in educational child-robot interaction. arXiv preprint arXiv:​1606.​02736 (2016)
14.
Zurück zum Zitat El Ayadi, M., Kamel, M.S., Karray, F.: Survey on speech emotion recognition: features, classification schemes, and databases. Pattern Recognit. 44(3), 572–587 (2011)CrossRef El Ayadi, M., Kamel, M.S., Karray, F.: Survey on speech emotion recognition: features, classification schemes, and databases. Pattern Recognit. 44(3), 572–587 (2011)CrossRef
15.
Zurück zum Zitat Fong, T., Nourbakhsh, I., Dautenhahn, K.: A survey of socially interactive robots. Robot. Auton. Syst. 42(3–4), 143–166 (2003)CrossRef Fong, T., Nourbakhsh, I., Dautenhahn, K.: A survey of socially interactive robots. Robot. Auton. Syst. 42(3–4), 143–166 (2003)CrossRef
16.
Zurück zum Zitat Fridin, M., Angel, H., Azery, S.: Acceptance, interaction, and authority of educational robots. In: IEEE Workshop on advanced robotics and its social impacts, California, USA (2011) Fridin, M., Angel, H., Azery, S.: Acceptance, interaction, and authority of educational robots. In: IEEE Workshop on advanced robotics and its social impacts, California, USA (2011)
18.
Zurück zum Zitat Gockley, R., et al.: Designing robots for long-term social interaction. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1338–1343. IEEE (2005) Gockley, R., et al.: Designing robots for long-term social interaction. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1338–1343. IEEE (2005)
19.
Zurück zum Zitat Goodrich, M.A., Schultz, A.C.: Human-robot interaction: a survey. Found. Trends HRI 1(3), 203–275 (2007)MATH Goodrich, M.A., Schultz, A.C.: Human-robot interaction: a survey. Found. Trends HRI 1(3), 203–275 (2007)MATH
20.
Zurück zum Zitat Hegel, F., et al.: Understanding social robots. In: 2nd International Conferences on Advances in Computer-Human Interactions, pp. 169–174. IEEE (2009) Hegel, F., et al.: Understanding social robots. In: 2nd International Conferences on Advances in Computer-Human Interactions, pp. 169–174. IEEE (2009)
21.
Zurück zum Zitat Huijnen, C.A., Lexis, M.A., de Witte, L.P.: Matching robot kaspar to autism spectrum disorder (ASD) therapy and educational goals. Int. J. Soc. Robot. 8(4), 445–455 (2016)CrossRef Huijnen, C.A., Lexis, M.A., de Witte, L.P.: Matching robot kaspar to autism spectrum disorder (ASD) therapy and educational goals. Int. J. Soc. Robot. 8(4), 445–455 (2016)CrossRef
22.
Zurück zum Zitat Ishiguro, H.: Robovie: an interactive humanoid robot. Ind. Robot: Int. J. 28(6), 498–504 (2001)CrossRef Ishiguro, H.: Robovie: an interactive humanoid robot. Ind. Robot: Int. J. 28(6), 498–504 (2001)CrossRef
23.
Zurück zum Zitat Jeon, J., et al.: A real-time facial expression recognizer using deep neural network. In: Proceedings of the International Conference on Ubiquitous Information Management and Communication, p. 94. ACM (2016) Jeon, J., et al.: A real-time facial expression recognizer using deep neural network. In: Proceedings of the International Conference on Ubiquitous Information Management and Communication, p. 94. ACM (2016)
24.
Zurück zum Zitat Kanda, T., Sato, R., Saiwaki, N., Ishiguro, H.: A two-month field trial in an elementary school for long-term human-robot interaction. IEEE Trans. Robot. 23(5), 962–971 (2007)CrossRef Kanda, T., Sato, R., Saiwaki, N., Ishiguro, H.: A two-month field trial in an elementary school for long-term human-robot interaction. IEEE Trans. Robot. 23(5), 962–971 (2007)CrossRef
25.
Zurück zum Zitat Kirandziska, V., Ackovska, N.: Human-robot interaction based on human emotions extracted from speech. In: TELFOR, pp. 1381–1384. IEEE (2012) Kirandziska, V., Ackovska, N.: Human-robot interaction based on human emotions extracted from speech. In: TELFOR, pp. 1381–1384. IEEE (2012)
26.
Zurück zum Zitat Kirandziska, V., Ackovska, N.: A concept for building more humanlike social robots and their ethical consequence (best paper award). In: International Conferences ICT Society and Human Beings, pp. 19–37 (2014) Kirandziska, V., Ackovska, N.: A concept for building more humanlike social robots and their ethical consequence (best paper award). In: International Conferences ICT Society and Human Beings, pp. 19–37 (2014)
27.
Zurück zum Zitat Kleinsmith, A., Bianchi-Berthouze, N.: Affective body expression perception and recognition: a survey. IEEE Trans. Affect. Comput. 4(1), 15–33 (2013)CrossRef Kleinsmith, A., Bianchi-Berthouze, N.: Affective body expression perception and recognition: a survey. IEEE Trans. Affect. Comput. 4(1), 15–33 (2013)CrossRef
28.
Zurück zum Zitat Kory Westlund, J., et al.: Tega: a social robot. In: The Eleventh ACM/IEEE International Conference on Human Robot Interaction, pp. 561–561 (2016) Kory Westlund, J., et al.: Tega: a social robot. In: The Eleventh ACM/IEEE International Conference on Human Robot Interaction, pp. 561–561 (2016)
29.
Zurück zum Zitat Kozima, H., Michalowski, M.P., Nakagawa, C.: Keepon: a playful robot for research, therapy, and entertainment. Int. J. Soc. Robot. 1(1), 3–18 (2009)CrossRef Kozima, H., Michalowski, M.P., Nakagawa, C.: Keepon: a playful robot for research, therapy, and entertainment. Int. J. Soc. Robot. 1(1), 3–18 (2009)CrossRef
30.
Zurück zum Zitat Leite, I., Castellano, G., Pereira, A., Martinho, C., Paiva, A.: Empathic robots for long-term interaction. Int. J. Soc. Robot. 6(3), 329–341 (2014)CrossRef Leite, I., Castellano, G., Pereira, A., Martinho, C., Paiva, A.: Empathic robots for long-term interaction. Int. J. Soc. Robot. 6(3), 329–341 (2014)CrossRef
31.
Zurück zum Zitat Mavani, V., Raman, S., Miyapuram, K.P.: Facial expression recognition using visual saliency and deep learning. arXiv preprint arXiv:1708.08016 (2017) Mavani, V., Raman, S., Miyapuram, K.P.: Facial expression recognition using visual saliency and deep learning. arXiv preprint arXiv:​1708.​08016 (2017)
33.
Zurück zum Zitat Mnih, V.: Human-level control through deep reinforcement learning. Nature 518(7540), 529 (2015)CrossRef Mnih, V.: Human-level control through deep reinforcement learning. Nature 518(7540), 529 (2015)CrossRef
34.
Zurück zum Zitat Paiva, A., Leite, I., Ribeiro, T.: Emotion modeling for social robots. The Oxford handbook of affective computing pp. 296–308 (2014) Paiva, A., Leite, I., Ribeiro, T.: Emotion modeling for social robots. The Oxford handbook of affective computing pp. 296–308 (2014)
35.
Zurück zum Zitat Pekrun, R.: Emotions and Learning. International Academy of Education/International Bureau of Education (2014) Pekrun, R.: Emotions and Learning. International Academy of Education/International Bureau of Education (2014)
36.
Zurück zum Zitat Pot, E., Monceaux, J., Gelin, R., Maisonnier, B.: Choregraphe: a graphical tool for humanoid robot programming. In: Robot and Human Interactive Communication, The 18th IEEE International Symposium on, pp. 46–51. IEEE (2009) Pot, E., Monceaux, J., Gelin, R., Maisonnier, B.: Choregraphe: a graphical tool for humanoid robot programming. In: Robot and Human Interactive Communication, The 18th IEEE International Symposium on, pp. 46–51. IEEE (2009)
37.
Zurück zum Zitat Preckel, K., Kanske, P., Singer, T.: On the interaction of social affect and cognition: empathy, compassion and theory of mind. Curr. Opin. Behav. Sci. 19, 1–6 (2018)CrossRef Preckel, K., Kanske, P., Singer, T.: On the interaction of social affect and cognition: empathy, compassion and theory of mind. Curr. Opin. Behav. Sci. 19, 1–6 (2018)CrossRef
38.
Zurück zum Zitat Sabelli, A.M., Kanda, T., Hagita, N.: A conversational robot in an elderly care center: an ethnographic study. In: Proceedings of the 6th International Conference on HRI, pp. 37–44. ACM (2011) Sabelli, A.M., Kanda, T., Hagita, N.: A conversational robot in an elderly care center: an ethnographic study. In: Proceedings of the 6th International Conference on HRI, pp. 37–44. ACM (2011)
39.
Zurück zum Zitat Shamsuddin, S., et al.: Humanoid robot NAO interacting with autistic children of moderately impaired intelligence to augment communication skills. Procedia Eng. 41, 1533–1538 (2012)CrossRef Shamsuddin, S., et al.: Humanoid robot NAO interacting with autistic children of moderately impaired intelligence to augment communication skills. Procedia Eng. 41, 1533–1538 (2012)CrossRef
40.
Zurück zum Zitat Shen, J., Rudovic, O., Cheng, S., Pantic, M.: Sentiment apprehension in human-robot interaction with NAO. In: International Conference on Affective Computing and Intelligent Interaction, pp. 867–872. IEEE (2015) Shen, J., Rudovic, O., Cheng, S., Pantic, M.: Sentiment apprehension in human-robot interaction with NAO. In: International Conference on Affective Computing and Intelligent Interaction, pp. 867–872. IEEE (2015)
41.
Zurück zum Zitat Sutton, R.S., Barto, A.G.: Reinforcement learning: An introduction, vol. 1. MIT press, Cambridge (1998) Sutton, R.S., Barto, A.G.: Reinforcement learning: An introduction, vol. 1. MIT press, Cambridge (1998)
42.
Zurück zum Zitat Tanevska, A., Ackovska, N., Kirandziska, V.: Assistive robotics as therapy for autistic children. In: 13th International Conference for Electronics, Telecommunications, Automation and Informatics (2016) Tanevska, A., Ackovska, N., Kirandziska, V.: Assistive robotics as therapy for autistic children. In: 13th International Conference for Electronics, Telecommunications, Automation and Informatics (2016)
43.
Zurück zum Zitat Tanevska, A., Ackovska, N., Kirandziska, V.: Robot-assisted therapy: considering the social and ethical aspects when working with autistic children. In: Proceedings of the 9th International Workshop on Human-Friendly Robotics, Genova, Italy, pp. 57–60 (2016) Tanevska, A., Ackovska, N., Kirandziska, V.: Robot-assisted therapy: considering the social and ethical aspects when working with autistic children. In: Proceedings of the 9th International Workshop on Human-Friendly Robotics, Genova, Italy, pp. 57–60 (2016)
44.
Zurück zum Zitat Tielman, M., Neerincx, M., Meyer, J.J., Looije, R.: Adaptive emotional expression in robot-child interaction. In: Proceedings of the ACM/IEEE International Conference on HRI, pp. 407–414. ACM (2014) Tielman, M., Neerincx, M., Meyer, J.J., Looije, R.: Adaptive emotional expression in robot-child interaction. In: Proceedings of the ACM/IEEE International Conference on HRI, pp. 407–414. ACM (2014)
45.
Zurück zum Zitat Tyng, C.M., Amin, H.U., Saad, M.N., Malik, A.S.: The influences of emotion on learning and memory. Front. Psychol. 8, 1454 (2017)CrossRef Tyng, C.M., Amin, H.U., Saad, M.N., Malik, A.S.: The influences of emotion on learning and memory. Front. Psychol. 8, 1454 (2017)CrossRef
46.
Zurück zum Zitat Van Hasselt, H., Guez, A., Silver, D.: Deep reinforcement learning with double q-learning. In: AAAI, vol. 16, pp. 2094–2100 (2016) Van Hasselt, H., Guez, A., Silver, D.: Deep reinforcement learning with double q-learning. In: AAAI, vol. 16, pp. 2094–2100 (2016)
47.
Zurück zum Zitat Veloso, M.M., Rybski, P.E., Lenser, S., Chernova, S., Vail, D.: CMRoboBits: Creating an intelligent AIBO robot. AI Mag. 27(1), 67 (2006) Veloso, M.M., Rybski, P.E., Lenser, S., Chernova, S., Vail, D.: CMRoboBits: Creating an intelligent AIBO robot. AI Mag. 27(1), 67 (2006)
48.
Zurück zum Zitat Wada, K., Shibata, T.: Robot therapy in a care house-its sociopsychological and physiological effects on the residents. In: Robotics and Automation, Proceedings of the International Conference on, pp. 3966–3971. IEEE (2006) Wada, K., Shibata, T.: Robot therapy in a care house-its sociopsychological and physiological effects on the residents. In: Robotics and Automation, Proceedings of the International Conference on, pp. 3966–3971. IEEE (2006)
49.
Zurück zum Zitat Wada, K., Shibata, T.: Living with seal robots-its sociopsychological and physiological influences on the elderly at a care house. IEEE Trans. Robot. 23(5), 972–980 (2007)CrossRef Wada, K., Shibata, T.: Living with seal robots-its sociopsychological and physiological influences on the elderly at a care house. IEEE Trans. Robot. 23(5), 972–980 (2007)CrossRef
50.
Zurück zum Zitat Watkins, C.J., Dayan, P.: Q-learning. Mach. Learn. 8(3–4), 279–292 (1992)MATH Watkins, C.J., Dayan, P.: Q-learning. Mach. Learn. 8(3–4), 279–292 (1992)MATH
Metadaten
Titel
Emotion-Aware Teaching Robot: Learning to Adjust to User’s Emotional State
verfasst von
Frosina Stojanovska
Martina Toshevska
Vesna Kirandziska
Nevena Ackovska
Copyright-Jahr
2018
DOI
https://doi.org/10.1007/978-3-030-00825-3_6