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This paper tackles the challenging task of evaluating socially situated conversational robots and presents a novel objective evaluation approach that relies on multimodal user behaviors. In this study, our main focus is on assessing the…

Communication between people is characterized by a broad range of nonverbal cues. Transferring these cues into the design of robots and other artificial agents that interact with people may foster more natural, inviting, and accessible…

In this paper we address the problem of multi-cue affect recognition in challenging scenarios such as child-robot interaction. Towards this goal we propose a method for automatic recognition of affect that leverages body expressions…

There are a variety of mechanisms (i.e., input types) for real-time human interaction that can facilitate effective human-robot teaming. For example, previous works have shown how teleoperation, corrective, and discrete (i.e., preference…

This study reviews research on social emotions in robotics. In robotics, the study of emotions has been pursued for a long time, including the study of their recognition, expression, and computational modeling of the basic mechanisms which…

Interaction with a robot partner requires many elements, including not only speech but also embodiment. Thus, gestural and facial expressions are important for communication. Furthermore, understanding human movements is essential for safe…

To enable humanoid robots to share our social space we need to develop technology for easy interaction with the robots using multiple modes such as speech, gestures and share our emotions with them. We have targeted this research towards…

Collaborative manipulation is inherently multimodal, with haptic communication playing a central role. When performed by humans, it involves back-and-forth force exchanges between the participants through which they resolve possible…

For robots to seamlessly interact with humans, we first need to make sure that humans and robots understand one another. Diverse algorithms have been developed to enable robots to learn from humans (i.e., transferring information from…

Human-robot interactions (HRI) can be modeled as dynamic or differential games with incomplete information, where each agent holds private reward parameters. Due to the open challenge in finding perfect Bayesian equilibria of such games,…

Augmented and mixed-reality techniques harbor a great potential for improving human-robot collaboration. Visual signals and cues may be projected to a human partner in order to explicitly communicate robot intentions and goals. However, it…

Affective touch in human-robot interaction is shaped not only by emotional intent, but also by robot embodiment, including touch location, physical constraints, and perceived agency or social role. Existing HRI studies typically focus on…

Facial expressions are an ideal means of communicating one's emotions or intentions to others. This overview will focus on human facial expression recognition as well as robotic facial expression generation. In the case of human facial…

Physical Human-Human Interaction (pHHI) involves the use of multiple sensory modalities. Studies of communication through spoken utterances and gestures are well established, but communication through force signals is not well understood.…

Collaborative robots became a popular tool for increasing productivity in partly automated manufacturing plants. Intuitive robot teaching methods are required to quickly and flexibly adapt the robot programs to new tasks. Gestures have an…

We propose a set of communicative gestures and develop a gesture recognition system with the aim of facilitating more intuitive Human-Robot Interaction (HRI) through gestures. First, we propose a set of commands commonly used for…

Emotions, as a fundamental ingredient of any social interaction, lead to behaviors that represent the effectiveness of the interaction through facial expressions and gestures in humans. Hence an agent must possess the social and cognitive…

Effectively recognising and applying emotions to interactions is a highly desirable trait for social robots. Implicitly understanding how subjects experience different kinds of actions and objects in the world is crucial for natural HRI…

An integral part of seamless human-human communication is engagement, the process by which two or more participants establish, maintain, and end their perceived connection. Therefore, to develop successful human-centered human-machine…

Communication between humans and artificial agents is essential for their interaction. This is often inspired by human communication, which uses gestures, facial expressions, gaze direction, and other explicit and implicit means. This work…