Differences in Haptic and Visual Perception of Expressive 1DoF Motion

How Can Autonomous Vehicles Convey Emotions to Pedestrians? A Review of Emotionally Expressive Non-Humanoid Robots

“…The non-humanoid robots used in these articles varied in morphologies and functionalities (Figure 1). Eleven (44%) articles adopted readily available robots developed in previous work [13][14][15]22,52] or commercially available [9,18,20,28,50,53], while another thirteen (52%) articles designed and prototyped robots for the specific purpose of investigating emotional expressions [17,19,21,23,27,29,45,49,[54][55][56][57][58]. The remaining one article implemented the design from another robot using Lego robot parts [26].…”

“…The purpose of robotic emotion design in fifteen (60%) articles was to explore the use of a modality or multiple modalities. Eight of these articles aimed to address the feasibility or effectiveness of the chosen modality/modalities in developing the emotional expressions [17,19,21,27,28,50,54,55], while the other seven of the fifteen articles focused on providing design strategies for using the modality/modalities to encode emotions [9,14,23,26,49,57,58]. The remaining ten (40%) articles had a main purpose other than evaluating modalities.…”

“…The most employed modality was movement, which was found in twenty-two articles. Six articles used movement to encode emotions based on suggestions in prior work [18,20,22,27,49,55]. For instance, for a robot placed in a natural play scenario with young children, Boccanfuso et al [18] used movements that were previously reported to be indicative of emotions in children.…”

“…In one of those articles, the robot was covered in a naturalistic fur to mimic furry animals and invite user touch only to assist in the evaluation of the primary modality (i.e., breathing behaviors) [54]. The other three articles used haptics as main cues [55,57,58]. In the work of Sato et al [58], they investigated how users mapped combinations of haptic movements (e.g., tap rapidly/slowly) and textures (e.g., aluminum and clay) to a list of discrete emotions.…”

“…In the work of Sato et al [58], they investigated how users mapped combinations of haptic movements (e.g., tap rapidly/slowly) and textures (e.g., aluminum and clay) to a list of discrete emotions. Chase and Follmer [55] combined haptic movements with visual movements to test the perceived pleasure-arousal-dominance (PAD) for properties such as stiffness and jitter. Kim and Follmer [57] assessed perceived PAD in a swarm of small haptic devices by changing parameters, including the number of robots, force types, frequency, and amplitude.…”