| 1. |
- Alenljung, Beatrice, 1971-, et al.
(författare)
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Conveying Emotions by Touch to the Nao Robot : A User Experience Perspective
- 2018
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Ingår i: Multimodal Technologies and Interaction. - : MDPI. - 2414-4088. ; 2:4
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Tidskriftsartikel (refereegranskat)abstract
- Social robots are expected gradually to be used by more and more people in a widerrange of settings, domestic as well as professional. As a consequence, the features and qualityrequirements on human–robot interaction will increase, comprising possibilities to communicateemotions, establishing a positive user experience, e.g., using touch. In this paper, the focus is ondepicting how humans, as the users of robots, experience tactile emotional communication with theNao Robot, as well as identifying aspects affecting the experience and touch behavior. A qualitativeinvestigation was conducted as part of a larger experiment. The major findings consist of 15 differentaspects that vary along one or more dimensions and how those influence the four dimensions ofuser experience that are present in the study, as well as the different parts of touch behavior ofconveying emotions.
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| 2. |
- Alenljung, Beatrice, et al.
(författare)
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User Experience of Conveying Emotions by Touch
- 2017
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Ingår i: Proceedings of the 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). - : IEEE. - 9781538635179 - 9781538635193 - 9781538635186 ; , s. 1240-1247
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Konferensbidrag (refereegranskat)abstract
- In the present study, 64 users were asked to convey eight distinct emotion to a humanoid Nao robot via touch, and were then asked to evaluate their experiences of performing that task. Large differences between emotions were revealed. Users perceived conveying of positive/pro-social emotions as significantly easier than negative emotions, with love and disgust as the two extremes. When asked whether they would act differently towards a human, compared to the robot, the users’ replies varied. A content analysis of interviews revealed a generally positive user experience (UX) while interacting with the robot, but users also found the task challenging in several ways. Three major themes with impact on the UX emerged; responsiveness, robustness, and trickiness. The results are discussed in relation to a study of human-human affective tactile interaction, with implications for human-robot interaction (HRI) and design of social and affective robotics in particular.
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| 3. |
- Andreasson, Rebecca, et al.
(författare)
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Affective Touch in Human-Robot Interaction: Conveying Emotion to the Nao Robot
- 2018
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Ingår i: International Journal of Social Robotics. - : Springer Science and Business Media LLC. - 1875-4791 .- 1875-4805. ; 10:4, s. 473-491
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Tidskriftsartikel (refereegranskat)abstract
- Affective touch has a fundamental role in human development, social bonding, and for providing emotional support in interpersonal relationships. We present, what is to our knowledge, the first HRI study of tactile conveyance of both positive and negative emotions (affective touch) on the Nao robot, and based on an experimental set-up from a study of human-human tactile communication. In the present work, participants conveyed eight emotions to a small humanoid robot via touch. We found that female participants conveyed emotions for a longer time, using more varied interaction and touching more regions on the robot's body, compared to male participants. Several differences between emotions were found such that emotions could be classified by the valence of the emotion conveyed, by combining touch amount and duration. Overall, these results show high agreement with those reported for human-human affective tactile communication and could also have impact on the design and placement of tactile sensors on humanoid robots.
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| 4. |
- Billing, Erik, 1981-, et al.
(författare)
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Finding Your Way from the Bed to the Kitchen: Reenacting and Recombining Sensorimotor Episodes Learned from Human Demonstration
- 2016
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Ingår i: Frontiers in Robotics and Ai. - Lausanne, Switzerland : Frontiers Media SA. - 2296-9144. ; 3
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Tidskriftsartikel (refereegranskat)abstract
- Several simulation theories have been proposed as an explanation for how humans and other agents internalize an "inner world" that allows them to simulate interactions with the external real world - prospectively and retrospectively. Such internal simulation of interaction with the environment has been argued to be a key mechanism behind mentalizing and planning. In the present work, we study internal simulations in a robot acting in a simulated human environment. A model of sensory-motor interactions with the environment is generated from human demonstrations and tested on a Robosoft Kompai robot. The model is used as a controller for the robot, reproducing the demonstrated behavior. Information from several different demonstrations is mixed, allowing the robot to produce novel paths through the environment, toward a goal specified by top-down contextual information. The robot model is also used in a covert mode, where the execution of actions is inhibited and perceptions are generated by a forward model. As a result, the robot generates an internal simulation of the sensory-motor interactions with the environment. Similar to the overt mode, the model is able to reproduce the demonstrated behavior as internal simulations. When experiences from several demonstrations are combined with a top-down goal signal, the system produces internal simulations of novel paths through the environment. These results can be understood as the robot imagining an "inner world" generated from previous experience, allowing it to try out different possible futures without executing actions overtly. We found that the success rate in terms of reaching the specified goal was higher during internal simulation, compared to overt action. These results are linked to a reduction in prediction errors generated during covert action. Despite the fact that the model is quite successful in terms of generating covert behavior toward specified goals, internal simulations display different temporal distributions compared to their overt counterparts. Links to human cognition and specifically mental imagery are discussed.
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| 5. |
- Billing, Erik, 1981-, et al.
(författare)
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Simultaneous planning and action: neural-dynamic sequencing of elementary behaviors in robot navigation
- 2015
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Ingår i: Adaptive Behavior. - : SAGE Publications. - 1059-7123 .- 1741-2633. ; 23:5, s. 243-264
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Tidskriftsartikel (refereegranskat)abstract
- A technique for simultaneous planning and action based on dynamic field theory is presented. The model builds on previous work on representation of sequential behavior as attractors in dynamic neural fields. Here, we demonstrate how chains of competing attractors can be used to represent dynamic plans towards a goal state. The present work can be seen as an addition to a growing body of work that demonstrates the role of dynamic field theory as a bridge between low-level reactive approaches and high-level symbol processing mechanisms. The architecture is evaluated on a set of planning problems using a simulated e-puck robot, including analysis of the system's behavior in response to noise and temporary blockages of the planned route. The system makes no explicit distinction between planning and execution phases, allowing continuous adaptation of the planned path. The proposed architecture exploits the dynamic field theory property of stability in relation to noise and changes in the environment. The neural dynamics are also exploited such that stay-or-switch action selection emerges where blockage of a planned path occurs; stay until the transient blockage is removed versus switch to an alternative route to the goal.
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| 6. |
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| 7. |
- Lowe, Robert, et al.
(författare)
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Affective-Associative Two-Process theory: A neural network investigation of adaptive behaviour in differential outcomes training
- 2017
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Ingår i: Adaptive Behavior. - : SAGE Publications. - 1059-7123 .- 1741-2633. ; 25:1, s. 5-23
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Tidskriftsartikel (refereegranskat)abstract
- In this article we present a novel neural network implementation of Associative Two-Process (ATP) theory based on an Actor-Critic-like architecture. Our implementation emphasizes the affective components of differential reward magnitude and reward omission expectation and thus we model Affective-Associative Two-Process theory (Aff-ATP). ATP has been used to explain the findings of differential outcomes training (DOT) procedures, which emphasize learning differentially valuated outcomes for cueing actions previously associated with those outcomes. ATP hypothesizes the existence of a prospective' memory route through which outcome expectations can bring to bear on decision making and can even substitute for decision making based on the retrospective' inputs of standard working memory. While DOT procedures are well recognized in the animal learning literature they have not previously been computationally modelled. The model presented in this article helps clarify the role of ATP computationally through the capturing of empirical data based on DOT. Our Aff-ATP model illuminates the different roles that prospective and retrospective memory can have in decision making (combining inputs to action selection functions). In specific cases, the model's prospective route allows for adaptive switching (correct action selection prior to learning) following changes in the stimulus-response-outcome contingencies.
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| 8. |
- Lowe, Robert, et al.
(författare)
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Affective-associative two-process theory: a neurocomputational account of partial reinforcement extinction effects
- 2017
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Ingår i: Biological Cybernetics. - : Springer Science and Business Media LLC. - 0340-1200 .- 1432-0770. ; 111:5-6, s. 365-388
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Tidskriftsartikel (refereegranskat)abstract
- The partial reinforcement extinction effect (PREE) is an experimentally established phenomenon: behavioural response to a given stimulus is more persistent when previously inconsistently rewarded than when consistently rewarded. This phenomenon is, however, controversial in animal/human learning theory. Contradictory findings exist regarding when the PREE occurs. One body of research has found a within-subjects PREE, while another has found a within-subjects reversed PREE (RPREE). These opposing findings constitute what is considered the most important problem of PREE for theoreticians to explain. Here, we provide a neurocomputational account of the PREE, which helps to reconcile these seemingly contradictory findings of within-subjects experimental conditions. The performance of our model demonstrates how omission expectancy, learned according to low probability reward, comes to control response choice following discontinuation of reward presentation (extinction). We find that a PREE will occur when multiple responses become controlled by omission expectation in extinction, but not when only one omission-mediated response is available. Our model exploits the affective states of reward acquisition and reward omission expectancy in order to differentially classify stimuli and differentially mediate response choice. We demonstrate that stimulus-response (retrospective) and stimulus-expectation-response (prospective) routes are required to provide a necessary and sufficient explanation of the PREE versus RPREE data and that Omission representation is key for explaining the nonlinear nature of extinction data.
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| 9. |
- Lowe, Robert, 1975-, et al.
(författare)
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Designing for a Wearable Affective Interface for the NAO Robot : A Study of Emotion Conveyance by Touch
- 2018
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Ingår i: Multimodal Technologies and Interaction. - : M D P I AG. - 2414-4088. ; 2:1
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Tidskriftsartikel (refereegranskat)abstract
- We here present results and analysis from a study of affective tactile communication between human and humanoid robot (the NAO robot). In the present work, participants conveyed eight emotions to the NAO via touch. In this study, we sought to understand the potential for using a wearable affective (tactile) interface, or WAffI. The aims of our study were to address the following: (i) how emotions and affective states can be conveyed (encoded) to such a humanoid robot, (ii) what are the effects of dressing the NAO in the WAffI on emotion conveyance and (iii) what is the potential for decoding emotion and affective states. We found that subjects conveyed touch for longer duration and over more locations on the robot when the NAO was dressed with WAffI than when it was not. Our analysis illuminates ways by which affective valence, and separate emotions, might be decoded by a humanoid robot according to the different features of touch: intensity, duration, location, type. Finally, we discuss the types of sensors and their distribution as they may be embedded within the WAffI and that would likely benefit Human-NAO (and Human-Humanoid) interaction along the affective tactile dimension.
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| 10. |
- Lowe, Robert, 1975-, et al.
(författare)
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Grounding emotions in robots : An introduction to the special issue
- 2016
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Ingår i: Adaptive Behavior. - : Sage Publications. - 1059-7123 .- 1741-2633. ; 24:5, s. 263-266
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Tidskriftsartikel (refereegranskat)abstract
- Robots inhabiting human environments need to act in relation to their own experience and embodiment as well as to social and emotional aspects. Robots that learn, act upon and incorporate their own experience and perception of others’ emotions into their responses make not only more productive artificial agents but also agents with whom humans can appropriately interact. This special issue seeks to address the significance of grounding of emotions in robots in relation to aspects of physical and homeostatic interaction in the world at an individual and social level. Specific questions concern: How can emotion and social interaction be grounded in the behavioral activity of the robotic system? Is a robot able to have intrinsic emotions? How can emotions, grounded in the embodiment of the robot, facilitate individually and socially adaptive behavior to the robot? This opening chapter provides an introduction to the articles that comprise this special issue and briefly discusses their relationship to grounding emotions in robots.
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