“…Given numerous human-robot interaction (HRI)-related studies (Jack et al, 2014;Wittig et al, 2015;Mcginn, 2020;Wang et al, 2021), where emotions are managed using Ekman's Facial Action Coding System (FACS) (Ekman and Friesen, 1978), our research focuses on 6 basic emotions: happiness, surprise, disgust, sadness, anger, and fear (Ekman et al, 1969;Piórkowska and Wrobel, 2017).…”