Kansei Estimation for Communication Ability of Non-verbal Information by Real-Appearance Face Robot

最近开发出了一些外形酷似人类的机器人，被称为Android机器人。Android机器人的目的是通过实现仿人行为来实现人与机器人之间的逼真交流。然后，需要使用Android机器人生成类似人类的自然运动和行为的知识和技术。在面对面的交流中，我们可以观察到说话人在说话时点头，我们称之为“说话人点头”。因此，在本研究中，我们试图将逼真的“议长点头”作为一种自然的人际行为，与具有人类外观的接待员机器人SAYA实现。因此，我们对人类“说话人点头”的表情时序、角度和角速度进行了实验研究，并在此基础上实现了对SAYA的“说话人点头”。然后通过主观实验验证了《议长点头》的实施影响了萨雅的人性化，极大地提升了人的情感印象。

Some robots with a human-like appearance have been developed recently, which are called android robot. The purpose of android robots is to realize realistic communication between human and robot by implementation of human-like behaviors. Then knowledge and techniques for generating human-like natural motions and behaviors with android robots are required. In face-to-face communication, we can observe that the speaker nods during his utterance, and we call this behavior "Speaker's nod". Thus, in this study, we tried to realize realistic "Speaker's nod" as a natural interpersonal behavior with receptionist robot SAYA that has human-like appearance. Therefore we experimentally investigated expression-timings, angle and angular velocity of the human "Speaker's nod", and we implemented "Speaker's nod" to SAYA based on the investigation results. Then we have verified that implemented "Speaker's nod" affected the humanity of SAYA, and it greatly enhanced emotional impression of human by subjective experiment.