Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
International Journal of Social Robotics
Published in: International Journal of Social Robotics 4/2022

04-01-2022

The Zoomorphic Miro Robot’s Affective Expression Design and Perceived Appearance

Authors: Moojan Ghafurian, Gabriella Lakatos, Kerstin Dautenhahn

Published in: International Journal of Social Robotics | Issue 4/2022

Log in

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

search-config
loading …

Abstract

This article proposes design guidelines for 11 affective expressions for the Miro robot, and evaluates the expressions through an online video study with 116 participants. All expressions were recognized significantly above the chance level. For six of the expressions, the correct response was selected significantly more than the others, while more than one emotion was associated to some other expressions. Design decisions and the robot’s limitations that led to selecting other expressions, along with the correct expression, are discussed. We also investigated how participants’ abilities to recognize human and animal emotions, their tendency to anthropomorphize, and their familiarity with and attitudes towards animals and pets might have influenced the recognition of the robot’s affective expressions. Results show significant impact of human emotion recognition, difficulty in understanding animal emotions, and anthropomorphism tendency on recognition of Robot’s expressions. We did not find such effects regarding familiarity with/attitudes towards animals/pets in terms of how they influenced participants’ recognition of the designed affective expressions. We further studied how the robot is perceived in general and showed that it is mostly perceived to be gender neutral, and, while it is often associated with a dog or a rabbit, it can also be perceived as a variety of other animals.
previous article Positive Turn in Elder-Care Workers’ Views Toward Telecare Robots
next article Robot-Fish Interaction Helps to Trigger Social Buffering in Neon Tetras: The Potential Role of Social Robotics in Treating Anxiety

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
Footnotes
1
URL: http://​consequentialrob​otics.​com/​, last accessed 21 July 2020.
 
2
The videos and the underlying code will be shared upon request to allow other researchers to either replicate the study or use the expressions in their own research projects.
 
Literature
1.
Dautenhahn K, Nehaniv CL, Walters ML, Robins B, Kose-Bagci H, Mirza NA, Blow M (2009) KASPAR-a minimally expressive humanoid robot for human–robot interaction research. Appl Bionics Biomech 6(3–4):369CrossRef
2.
Dautenhahn K (2007) Socially intelligent robots: dimensions of human–robot interaction. Philos Trans R Soc B Biol Sci 362(1480):679–704CrossRef
3.
O’Brien HL, Toms EG (2008) What is user engagement? A conceptual framework for defining user engagement with technology. J Am Soc Inf Sci Technol 59(6):938
4.
Chowanda A, Flintham M, Blanchfield P, Valstar M (2016), Playing with social and emotional game companions. In: International conference on intelligent virtual agents, pp. 85–95. Springer
5.
Ghafurian M, Budnarain N, Hoey J (2019) Role of emotions in perception of humanness of virtual agents. In: Proceedings of the 18th international conference on autonomous agents and multiagent systems (International Foundation for Autonomous Agents and Multiagent Systems, Richland, SC, 2019), AAMAS’19, pp 1979–1981
6.
7.
Widen SC, Russell JA (2010) The “disgust face” conveys anger to children. Emotion 10(4):455
8.
Widen SC, Russell JA, Brooks A (2004) Anger and disgust: discrete or overlapping categories. In: 2004 APS annual convention. Boston College, Chicago
9.
Collins EC, Prescott TJ, Mitchinson B, Conran S (2015),MIRO: a versatile biomimetic edutainment robot. In: Proceedings of the 12th international conference on advances in computer entertainment technology, pp 1–4
10.
Mitchinson B, Prescott TJ (2016) MIRO: a robot “Mammal” with a biomimetic brain-based control system. In: Conference on biomimetic and biohybrid systems, pp 179–191. Springer
11.
Collins EC, Prescott TJ, Mitchinson B (2015) Saying it with light: a pilot study of affective communication using the MIRO robot. In: Conference on biomimetic and biohybrid systems, pp 243–255. Springer
12.
Becker-Asano C, Prendinger H, Ishizuka M, Wachsmuth I (2005) In: Proceedings of the international conference on active media technology (AMT 2005)
13.
Poggi I, Pelachaud C, de Rosis F, Carofiglio V, De Carolis B (2005) Empathy for max (preliminary project report). In: Multimodal intelligent information presentation, pp 3–25. Springer
14.
Velásquez JD (1999) An emotion-based approach to robotics. In: Proceedings 1999 IEEE/RSJ international conference on intelligent robots and systems. Human and environment friendly robots with high intelligence and emotional quotients (Cat. No. 99CH36289), vol 1, pp. 235–240. IEEE
15.
Sosnowski S, Bittermann A, Kuhnlenz K, Buss M (2006) Design and evaluation of emotion-display EDDIE. In: 2006 IEEE/RSJ international conference on intelligent robots and systems, pp 3113–3118. IEEE
16.
Dautenhahn K, Bond AH, Canamero L, Edmonds B (2002) Playing the emotion game with Feelix: What can a LEGO robot tell us about emotion?, vol 3. Springer
17.
Numata T, Asa Y, Kitagaki T, Hashimoto T, Karasawa K (2019) Young and elderly users’ emotion recognition of dynamically formed expressions made by a non-human virtual agent. In: Proceedings of the 7th international conference on human-agent interaction, pp 253–255
18.
Saldien J, Goris K, Vanderborght B, Vanderfaeillie J, Lefeber D (2010) Expressing emotions with the social robot probo. Int J Soc Robot 2(4):377CrossRef
19.
Breazeal C (2003) Emotion and sociable humanoid robots. Int J Hum Comput Stud 59(1–2):119
20.
Korcsok B, Konok V, Persa G, Faragó T, Niitsuma M, Miklósi Á, Korondi P, Baranyi P, Gácsi M (2018) Emotion and sociable humanoid robots. Front Psychol 9:1191CrossRef
21.
Gácsi Márta, Kis Anna, Faragó Tamás, Janiak Mariusz, Muszyński Robert, Miklósi Ádám (2016) Humans attribute emotions to a robot that shows simple behavioural patterns borrowed from dog behaviour. Comput Hum Behav 59:411–419CrossRef
22.
Löffler D, Schmidt N, Tscharn R (2018) Multimodal expression of artificial emotion in social robots using color, motion and sound. In: Proceedings of the 2018 ACM/IEEE international conference on human–robot interaction, pp 334–343
23.
Häring M, Bee N, André E (2011) Creation and evaluation of emotion expression with body movement, sound and eye color for humanoid robots. In: 2011 RO-MAN, pp 204–209. IEEE
24.
Bethel CL, Murphy RR (2007) Survey of non-facial/non-verbal affective expressions for appearance-constrained robots. IEEE Trans Syst Man Cybern Part C Appl Rev 38(1):83CrossRef
25.
Lakatos G, Gácsi M, Konok V, Bruder I, Bereczky B, Korondi P, Miklosi A (2014) Emotion attribution to a non-humanoid robot in different social situations. PLoS One 9(12):114207CrossRef
26.
Morris PH, Doe C, Godsell E (2008) Secondary emotions in non-primate species? Behavioural reports and subjective claims by animal owners. Cogn Emot 22(1):3CrossRef
27.
Konok V, Nagy K, Miklósi Á (2015) How do humans represent the emotions of dogs? The resemblance between the human representation of the canine and the human affective space. Appl Anim Behav Sci 162:37CrossRef
28.
Miklósi Á, Korondi P, Matellán V, Gácsi M (2017) Ethorobotics: a new approach to human–robot relationship. Front Psychol 8:958CrossRef
29.
Melson GF, Kahn PH, Beck AM, Friedman B, Roberts T, Garrett E (2005) Robots as dogs? Children’s interactions with the robotic dog AIBO and a live Australian Shepherd. In: CHI-05 extended abstracts on human factors in computing systems, CHI EA’05, pp 1649–1652. Association for Computing Machinery, New York. https://​doi.​org/​10.​1145/​1056808.​1056988
30.
Dawson L, Niel L, Cheal J, Mason G (2019) Humans can identify cats affective states from subtle facial expressions, UFAW
31.
Wan M, Bolger N, Champagne FA (2012) Human perception of fear in dogs varies according to experience with dogs. PLoS One 7(12):51775CrossRef
32.
Maréchal L, Levy X, Meints K, Majolo B (2017) Experience-based human perception of facial expressions in Barbary macaques (Macaca sylvanus). PeerJ 5:E3413CrossRef
33.
Nicastro N, Owren MJ (2003) Classification of domestic cat (Felis catus) vocalizations by Naive and experienced human listeners. J Comp Psychol 117(1):44CrossRef
34.
35.
Tami G, Gallagher A (2009) Description of the behaviour of domestic dog (Canis familiaris) by experienced and inexperienced people. Appl Anim Behav Sci 120(3–4):159CrossRef
36.
Demirbas YS, Ozturk H, Emre B, Kockaya M, Ozvardar T, Scott A (2016) Adultsability to interpret canine body language during a dog–child interaction. Anthrozoös 29(4):581CrossRef
37.
Canamero L (2001) Building emotional artifacts in social worlds: challenges and perspectives, emotional and intelligent II: the tangled knot of social cognition. AAAI Technical Report FS-01-02
38.
Ghafurian M, Lakatos G, Tao Z, Dautenhahn K (2020) Design and evaluation of affective expressions of a zoomorphic robot. In: International conference on social robotics, pp 1–12. Springer
39.
Topál J, Miklósi Á, Csányi V, Dóka A (1998) Attachment behavior in dogs (Canis familiaris): a new application of Ainsworth’s (1969) Strange Situation Test. J Comp Psychol 112(3):219
40.
Klausz B, Kis A, Persa E, Miklósi Á, Gácsi M (2014) A quick assessment tool for human-directed aggression in pet dogs. Aggress Behav 40(2):178CrossRef
41.
Vas J, Topál J, Gácsi M, Miklósi A, Csányi V (2005) A friend or an enemy? Dogs reaction to an unfamiliar person showing behavioural cues of threat and friendliness at different times. Appl Anim Behav Sci 94(1–2):99CrossRef
42.
Konok V, Dóka A, Miklósi Á (2011) The behavior of the domestic dog (Canis familiaris) during separation from and reunion with the owner: a questionnaire and an experimental study. Appl Anim Behav Sci 135(4):300CrossRef
43.
Hampshire V, Robertson S (2015) Using the facial grimace scale to evaluate rabbit wellness in post-procedural monitoring. Lab Anim 44(7):259CrossRef
44.
Matsumiya LC, Sorge RE, Sotocinal SG, Tabaka JM, Wieskopf JS, Zaloum A, King OD, Mogil JS (2012) Using the Mouse Grimace Scale to reevaluate the efficacy of postoperative analgesics in laboratory mice. J Am Assoc Lab Anim Sci 51(1):42
45.
Quaranta A, Siniscalchi M, Vallortigara G (2007) Asymmetric tail-wagging responses by dogs to different emotive stimuli. Curr Biol 17(6):R199CrossRef
46.
Hasegawa M, Ohtani N, Ohta M (2014) Dogs body language relevant to learning achievement. Animals 4(1):45CrossRef
47.
Keating SC, Thomas AA, Flecknell PA, Leach MC (2012) Evaluation of EMLA cream for preventing pain during tattooing of rabbits: changes in physiological, behavioural and facial expression responses. PLoS One 7(9):e44437CrossRef
48.
Burn CC (2017) Bestial boredom: a biological perspective on animal boredom and suggestions for its scientific investigation. Anim Behav 130:141CrossRef
49.
Reisenzein R, Bördgen S, Holtbernd T, Matz D (2006) Evidence for strong dissociation between emotion and facial displays: the case of surprise. J Personal Soc Psychol 91(2):295CrossRef
50.
Terwogt MM, Hoeksma JB (1995) Colors and emotions: preferences and combinations. J Gen Psychol 122(1):5CrossRef
51.
52.
53.
Siegel M, Breazeal C, Norton MI (2009) Persuasive robotics: the influence of robot gender on human behavior. In: 2009 IEEE/RSJ international conference on intelligent robots and systems, pp 2563–2568. IEEE
54.
Waytz A, Cacioppo J, Epley N (2010) Who sees human? The stability and importance of individual differences in anthropomorphism. Perspect Psychol Sci 5(3):219CrossRef
55.
MacDorman KF, Ishiguro H (2006) The uncanny advantage of using androids in social and cognitive science research. Interact Stud 7(2):297CrossRef
56.
Dautenhahn K (1995) Getting to know each other artificial social intelligence for autonomous robots. Robot Auton Syst 16(2–4):333CrossRef
57.
58.
Roy-Charland A, Perron M, Young C, Boulard J, Chamberland JA (2015) The confusion of fear and surprise: a developmental study of the perceptual-attentional limitation hypothesis using eye movements. J Genet Psychol 176(5):281CrossRef
59.
Camras LA, Allison K (1985) Children’s understanding of emotional facial expressions and verbal labels. J Nonverbal Behav 9(2):84
60.
Saarni C (1999) The development of emotional competence. Guilford Press
61.
De Sonneville L, Verschoor C, Njiokiktjien C, Op het Veld V, Toorenaar N, Vranken M (2002) Facial identity and facial emotions: speed, accuracy, and processing strategies in children and adults. J Clin Exp Neuropsychol 24(2):200CrossRef
62.
Ritschel H, Aslan I, Mertes S, Seiderer A, André E (2019) Personalized synthesis of intentional and emotional non-verbal sounds for social robots. In: 2019 8th International conference on affective computing and intelligent interaction (ACII), pp 1–7
63.
Sung J, Grinter RE, Christensen HI (2009) Pimp My Roomba: designing for personalization. In: Proceedings of the SIGCHI conference on human factors in computing systems, CHI’09, pp 193–196. Association for Computing Machinery, New York. https://​doi.​org/​10.​1145/​1518701.​1518732
64.
65.
Pandey AK, Gelin R (2018) A mass-produced sociable humanoid robot: pepper: the first machine of its kind. IEEE Robot Autom Mag 25(3):40CrossRef
66.
Jackson RB, Williams T, Smith N (2020) Exploring the role of gender in perceptions of robotic noncompliance. In: Proceedings of the 2020 ACM/IEEE international conference on human–robot interaction, HRI’20, pp 559–567. Association for Computing Machinery, New York. https://​doi.​org/​10.​1145/​3319502.​3374831
67.
Mathur Maya B, Reichling David B (2016) Navigating a social world with robot partners: a quantitative cartography of the Uncanny Valley. Cognition 146:22–32CrossRef
68.
Bloom T, Friedman H (2013) Classifying dogs (Canis familiaris) facial expressions from photographs. Behav Process 96:1CrossRef
69.
Bartneck C, Duenser A, Moltchanova E, Zawieska K (2015) Comparing the similarity of responses received from studies in Amazon mechanical turk to studies conducted online and with direct recruitment. PLoS One 10(4):1CrossRef
Metadata
Title
The Zoomorphic Miro Robot’s Affective Expression Design and Perceived Appearance
Authors
Moojan Ghafurian
Gabriella Lakatos
Kerstin Dautenhahn
Publication date
04-01-2022
Publisher
Springer Netherlands
Published in
International Journal of Social Robotics / Issue 4/2022
Print ISSN: 1875-4791
Electronic ISSN: 1875-4805
DOI
https://doi.org/10.1007/s12369-021-00832-3

Other articles of this Issue 4/2022

International Journal of Social Robotics 4/2022 Go to the issue

OriginalPaper

Children’s Intention to Adopt Social Robots: A Model of its Distal and Proximal Predictors

OriginalPaper

How does Modality Matter? Investigating the Synthesis and Effects of Multi-modal Robot Behavior on Social Intelligence

OriginalPaper

How Ethical Issues Raised by Human–Robot Interaction can Impact the Intention to use the Robot?

OriginalPaper

Do Speed and Proximity Affect Human-Robot Collaboration with an Industrial Robot Arm?

OriginalPaper

Human Preferences for Robot Eye Gaze in Human-to-Robot Handovers

OriginalPaper

Crowd-Comfort Robot Navigation Among Dynamic Environment Based on Social-Stressed Deep Reinforcement Learning

Premium Partners

    Image Credits