Book - Chapter 6

Question 1

Functions of Nonverbal Cues in Interaction

Answer 1

add depth to communication, conveying mutual understanding, emotions, and intentions more subtly than words

genuine and may reveal true attitudes, even if they contradict verbal communication

in HRI, nonverbal cues indicate a person’s engagement and liking of the robot, guiding the robot’s behaviour

can affect HRI through their consistency or inconsistency from the robot’s part

Question 2

Types of Nonverbal Interaction

Answer 2

1. Gaze and eye movement
2. Gestures
3. Mimicry and Imitation
4. Touch
5. Posture and Movement
6. Interaction Rhythm and Timing

Question 3

Significance of Gaze and Eye Movement

Answer 3

gaze conveys interest, understanding and attention

joint attention, where interaction patterns focus on the same object orea, is a fundamental area of gaze behaviour

gaze can also influence conversational roles, turn-taking and engagement

pupil dilation (involuntary response controlled by nervous system) occurs when people see attractive individuals

Question 4

Significance of Gestures

Answer 4

way of conveying information in human interactions

can accompany or substitute for speech

illustrate particular moments during speech or illustrate concepts

timing, naturalness and smoothness of gestures affects people’s perceptions and understanding

including gestures along with speech in HRI enhances anthropomorphism and likability of robots

Question 5

Types of Gestures

Answer 5

Dietetic - used to point or indicate specific things in the environment

Iconic - used to visually represent or illustrate the concept of spoken language

Symbolic gestures - used to convey specific meanings on their own, with or without accompanying speech

Beat gestures - used to emphasise the speech’s rhythm, enhance its natural flow and maintain engagement with the listener

Question 6

Mimicry and Imitation

Answer 6

Mimicry occurs when one unconsciously replicates another person’s behaviour, whilst imitation is a conscious replication.

mimicry indirectly signals positive affect and liking in social interactions

synchronous nonverbal cues indicate a positive relationships

assymetry in nonverbal cues can disrupt smooth communication

Question 7

Touch

Answer 7

touch is used in close human interactions, for comforting or expressing attraction

to be used thoughtfully and in the right context, as its appropriateness can vary

tactile interaction with robots such as paro can reduce stress and anxiety

Question 8

Posture and Movement

Answer 8

Body posture and movement communicate emotions and mental states that can be observed even when the face is not visible

Postures convey attention, engagement and attraction

Robots can also convey emotions through their body posture

Also, barely perceptible micromovements in robots can make them appear more lifelike and convey their internal state

Question 9

Interaction Rhythm and Timing

Answer 9

interaction timing, or turn-taking, guide attention to the appropriate interaction and indicate the end or start of a turn

synchronised temporal patterns enhance collaborative success

Rhythmicity in human interaction is crucial, allowing people to be attuned to each other’s cues and communicate smoothly

in HRI can improve interaction quality and the likelihood of success.

Question 10

Robot Perception of Nonverbal Cues

Answer 10

Data is collected using cameras, depth cameras, or sensors carried by users, recording time series data

Machine learning is commonly employed to train robots in recognizing gestures and nonverbal cues

Data collection involves creating a database of thousands or even millions of labeled data points, specifying cues such as waving, pointing, or beckoning

Special equipment such as eye trackers and motion-capture systems is added to robots to capture relevant nonverbal cues

Question 11

Generating Nonverbal Cues in Robots

Answer 11

An animation framework is a common approach, where designers control joint angles to set postures or “key frames.” These key frames are interpolated to create smooth motions

Designers may use graphical user interfaces (GUIs) like Choregraphe to simplify motion design for robots

Motion-capture systems record precise human motions and transfer them to robots, enabling lifelike movements

Markup languages like Behavior Markup Language (BML) can be used to specify gestures to accompany speech

Theory of Mind equips robots with the capability to comprehend the desires, goals, and intentions of humans, a fundamental component for comprehending and interacting effectively with human behavior

Constructivist approaches aim to create cognitive mechanisms for robots. For example, Scassellati developed an embodied Theory of Mind architecture