Top

Intelligent Service Robotics

Published in:

27-09-2023 | Original Research Paper

Expanded linear dynamic affect-expression model for lingering emotional expression in social robot

Authors: Haeun Park, Jiyeon Lee, Temirlan Dzhoroev, Byounghern Kim, Hui Sung Lee

Published in: Intelligent Service Robotics | Issue 5/2023

Activate our intelligent search to find suitable subject content or patents.

search-config

AI-assisted search

Off

Abstract

The service robot market is growing, and robots are replacing humans in many service industry jobs. Recently, as humans treat robots more emotionally and socially, designing robot emotions to improve human satisfaction in human–robot interaction (HRI) is crucial. Despite the importance of expressing the robot emotions, many robots only respond to the current stimulus when expressing emotions. Just as humans can feel the lingering effects of a strong stimulus after it has passed, social robots might do the same. For example, if a user hits a robot and the robot is very angry, even if the user praises the robot to make it feel better, the anger will not dissipate for some time. In this study, we propose the expanded linear dynamic affect-expression model (e-LDAEM) for expressing lingering emotion. Different intensity of stimuli in the e-LDAEM leads to different results, even if the robot is stimulated to the same emotion. The viscosity matrix and intensity vector show a positive correlation in the process of determining the emotion dynamics. This model enables the implementation of robots with diverse personalities by adjusting the lingering emotions to suit the robot’s form or situation. Through user evaluation results, the e-LDAEM has the proven effect of remaining in emotion for longer periods when the robot is given a strong stimulus. Thus, e-LDAEM is expected to improve the emotional bond between humans and robots.

previous article Sustainable cloud services for verbal interaction with embodied agents

next article Distance estimation with semantic segmentation and edge detection of surround view images

Dont have a licence yet? Then find out more about our products and how to get one now:

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!

inform now

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!

inform now

Available only for authorised users

Breazeal C (2003) Emotion and sociable humanoid robots. Int J Hum Comput Stud 59(1–2):119–155. https://doi.org/10.1016/S1071-5819(03)00018-1CrossRef

Breazeal C, Aryananda L (2002) Recognition of affective communicative intent in robot-directe. Auton Robots 12(1):83–104. https://doi.org/10.1023/a:1013215010749CrossRefMATH

Garcia-Soler A, Facal D, Diaz-Orueta U et al (2018) Inclusion of service robots in the daily lives of frail older users: a step-by-step definition procedure on users’ requirements. Arch Gerontol Geriatr 74:191–196. https://doi.org/10.1016/j.archger.2017.10.024CrossRef

Ekman P, Rosenberg EL (2005) What the face revealsbasic and applied studies of spontaneous expression using the facial action coding system (FACS). Oxford University Press. https://doi.org/10.1093/acprof:oso/9780195179644.001.0001

Pollmann K, Tagalidou N, Fronemann N (2019) It’s in Your Eyes. In: Proceedings of Mensch und Computer 2019. ACM: New York, pp 639–642. https://doi.org/10.1145/3340764.3344883

Scherer KR (1992) What does facial expression express? International review of studies on emotion, vol 2. Wiley, Oxford, pp 139–165

Mirnig N, Tan YK, Chang TW, et al (2014) Screen feedback in human-robot interaction: how to enhance robot expressiveness. In: The 23rd IEEE international symposium on robot and human interactive communication. IEEE, pp 224–230. https://doi.org/10.1109/ROMAN.2014.6926257

Kennedy A, Kunwar PS, Ly Li et al (2020) Stimulus-specific hypothalamic encoding of a persistent defensive state. Nature 586(7831):730–734. https://doi.org/10.1038/s41586-020-2728-4CrossRef

Lee HS, Park JW, Chung MJ (2007) A linear affect-expression space model and control points for mascot-type facial robots. IEEE Trans Robot 23(5):863–873. https://doi.org/10.1109/TRO.2007.907477

10.

Lee HS, Park JW, Jo SH, et al (2007) A linear dynamic affect-expression model: facial expressions according to perceived emotions in mascot-type facial robots. In: RO-MAN 2007—the 16th IEEE international symposium on robot and human interactive communication. IEEE, pp 619–624. https://doi.org/10.1109/ROMAN.2007.4415158

11.

Park JW, Lee HS, Jo SH, et al (2008) Emotional boundaries for choosing modalities according to the intensity of emotion in a linear affect-expression space. In: RO-MAN 2008—The 17th IEEE International Symposium on Robot and Human Interactive Communication. IEEE, pp 225–230, https://doi.org/10.1109/ROMAN.2008.4600670

12.

Ekman P, Friesen WV (1971) Constants across cultures in the face and emotion. J Personal Soc Psychol 17(2):124–129. https://doi.org/10.1037/h0030377CrossRef

13.

Sosnowski S, Bittermann A, Kuhnlenz K, et al (2006) Design and evaluation of emotion-display EDDIE. In: 2006 IEEE/RSJ international conference on intelligent robots and systems. IEEE, pp 3113–3118. https://doi.org/10.1109/IROS.2006.282330

14.

Yoo BS, Cho SH, Kim JH (2011) Fuzzy integral-based composite facial expression generation for a robotic head. In: 2011 IEEE international conference on fuzzy systems (FUZZ-IEEE 2011). IEEE, pp 917–923. https://doi.org/10.1109/FUZZY.2011.6007468

15.

Oh KG, Jang MS, Kim SJ (2010) Automatic emotional expression of a face robot by using a reactive behavior decision model. J Mech Sci Technol 24(3):769–774. https://doi.org/10.1007/s12206-010-0118-9CrossRef

16.

Ribeiro T, Paiva A (2012) The illusion of robotic life. In: Proceedings of the seventh annual ACM/IEEE international conference on human-robot interaction—HRI ’12. ACM Press, New York, p 383–390. https://doi.org/10.1145/2157689.2157814

17.

Zheng M, She Y, Liu F, et al (2019) BabeBay-a companion robot for children based on multimodal affective computing. In: 2019 14th ACM/IEEE international conference on human-robot interaction (HRI). IEEE, pp 604–605. https://doi.org/10.1109/HRI.2019.8673163

18.

Miwa H, Okuchi T, Itoh K, et al (2003) A new mental model for humanoid robots for human friendly communication introduction of learning system, mood vector and second order equations of emotion. In: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), vol 3, IEEE, pp 3588–3593. https://doi.org/10.1109/ROBOT.2003.1242146

19.

Hirth J, Schmitz N, Berns K (2007) Emotional architecture for the humanoid robot head ROMAN. In: Proceedings—IEEE international conference on robotics and automation, pp 2150–2155. https://doi.org/10.1109/ROBOT.2007.363639

20.

Cañamero LD (2002) Playing the emotion game with Feelix. In: Socially intelligent agents: creating relationships with computers and robots. Springer, pp 69–76. https://doi.org/10.1007/0-306-47373-9_8

21.

Mobahi H, Ansari S (2003) Fuzzy perception, emotion and expression for interactive robots. In: 2003 IEEE international conference on systems, man and cybernetics. Conference theme - system security and assurance (Cat. No.03CH37483). https://doi.org/10.1109/ICSMC.2003.1244500

22.

Gonsior B, Sosnowski S, Buss M, et al (2012) An emotional adaption approach to increase helpfulness towards a robot. In: 2012 IEEE/RSJ international conference on intelligent robots and systems. IEEE, pp 2429–2436. https://doi.org/10.1109/IROS.2012.6385941

23.

Arkin RC (2005) Moving up the food chain. In: Who needs emotions? Oxford University Press, pp 245–270, https://doi.org/10.1093/acprof:oso/9780195166194.003.0009

24.

Rizzo P, Rizzo P (1999) Emotional agents for user entertainment: discussing the underlying assumptions. In: Proceedings of the international workshop on affect in interactions held in conjunction with the AC’99, annual conference of the EC I3 programme, pp 21–22

25.

Salichs MA, Barber R, Khamis AM, et al (2006) Maggie: a robotic platform for human-robot social interaction. In: 2006 IEEE conference on robotics, automation and mechatronics, pp 1–7. https://doi.org/10.1109/RAMECH.2006.252754

26.

Cavallo F, Semeraro F, Fiorini L et al (2018) Emotion modelling for social robotics applications: a review. J Bionic Eng 15(2):185–203. https://doi.org/10.1007/s42235-018-0015-yCrossRef

27.

Dimitrievska V, Ackovska N (2020) Behavior models of emotion-featured robots: a survey. J Intell Robot Syst 100(3–4):1031–1053. https://doi.org/10.1007/s10846-020-01219-8CrossRef

28.

Breazeal C (2004) Function meets style: insights from emotion theory applied to HRI. IEEE Trans Syst Man Cybern Part C Appl Rev 34(2):187–194. https://doi.org/10.1109/TSMCC.2004.826270CrossRef

29.

Russell JA, Mehrabian A (1977) Evidence for a three-factor theory of emotions. J Res Personal 11(3):273–294. https://doi.org/10.1016/0092-6566(77)90037-XCrossRef

30.

Miwa H, Itoh K, Ito D et al (2003) Introduction of the need model for humanoid robots to generate active behavior. In: Proceedings 2003 IEEE/RSJ international conference on intelligent robots and systems (IROS 2003) (Cat. No.03CH37453). IEEE, Las Vegas, NV, USA, pp 1400–1406. https://doi.org/10.1109/IROS.2003.1248840

Title: Expanded linear dynamic affect-expression model for lingering emotional expression in social robot
Authors: Haeun Park
Jiyeon Lee
Temirlan Dzhoroev
Byounghern Kim
Hui Sung Lee
Publication date: 27-09-2023
Publisher: Springer Berlin Heidelberg
Published in: Intelligent Service Robotics / Issue 5/2023
Print ISSN: 1861-2776
Electronic ISSN: 1861-2784
DOI: https://doi.org/10.1007/s11370-023-00483-5

Springer Professional

Abstract

Please log in to get access to your license.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Springer Professional "Technik"

Other articles of this Issue 5/2023

Actuator-level motion and contact episode learning and classification using adaptive resonance theory

Automatic spraying motion planning of a shotcrete manipulator

Cognitive computing for intelligent robots in assisting preschool children

Distance estimation with semantic segmentation and edge detection of surround view images

IQ-VIO: adaptive visual inertial odometry via interference quantization under dynamic environments

Sustainable cloud services for verbal interaction with embodied agents