Toward Internal-state-based Parameterized model of Robot’s Touching Manners based on Subjective Evaluation
Toward Internal-state-based Parameterized model of Robot’s Touching Manners based on Subjective Evaluation
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DOI：
10.1145/3472307.3484676
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发表时间：
2021-11
期刊：
影响因子：
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通讯作者：
Tomoko Yonezawa;H. Yamazoe
中科院分区：
文献类型：
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作者：
Tomoko Yonezawa;H. Yamazoe
在本文中，我们讨论了一个情感触摸模型的毛绒玩具机器人基于用户的感知。为了使机器人的物理接触与用户对未来的双向触摸交互，我们调查了一个全面的模型，由一个毛绒玩具机器人对用户的身体上的主动触摸集中在潜在的循环参数的触摸，这是1）周期持续时间和2）拖动长度，包括各种触摸，如轻拍，抚摸，拥抱。测试台机器人包含三个伺服电机，用于移动左臂以触摸用户并进行物理接触。从改变两个触摸参数的主观评价结果来看，1）因子分析不仅提取了情感参数“活跃”、“温和”和“快乐”，而且提取了忠诚态度“诚实”，2）标准因子得分的贡献率和方差分析显示了“活跃”和“温和”的重要性，特别是受周期持续时间的影响。
In this paper, we discuss an emotional touch model of a stuffed toy robot based on the user’s perception. To enable the robot’s physical contact with the user toward future bidirectional touch interaction, we investigate a comprehensive model of active touch by a stuffed toy robot on the user’s body focusing on potentially cyclic parameters of the touch, which are 1) cycle duration and 2) dragging length, to include various touches such as patting, stroking, and hugging. The testbed robot contained three servomotors to move its left arm to touch the user and make physical contact. From the result of subjective evaluation varying the two touching parameters, 1) the factor analysis extracted not only emotional parameters, “activeness,” “mildness,” and “happiness,” but also a faithful attitude, “honesty,” and 2) the contribution rate and the ANOVA for the standard factor scores showed the importance of “activeness” and “mildness,” especially affected by the cycle duration.