Gaze-Height and Speech-Timing Effects on Feeling Robot-Initiated Touches
Masahiro Shiomi*1, Takahiro Hirano*1,*2, Mitsuhiko Kimoto*1,*3, Takamasa Iio*1,*4,*5, and Katsunori Shimohara*1,*2
*1Advanced Telecommunications Research Institute International (ATR)
2-2-2 Hikaridai, Keihanna Science City, Kyoto 619-0288, Japan
*2Graduate School of Science and Engineering, Doshisha University
1-3 Tatara Miyakodani, Kyotanabe, Kyoto 610-0321, Japan
3-14-1 Hiyoshi, Kohoku-ku, Yokohama, Kanagawa 223-8522, Japan
Research Division Gobancho Building, 7 Gobancho, Chiyoda-ku, Tokyo 102-0076, Japan
*5University of Tsukuba
1-1-1 Tennodai, Tsukuba, Ibaraki 305-8577, Japan
This paper reports the effects of communication cues on robot-initiated touch interactions at close distance by focusing on two factors: gaze-height for making eye contact and speech timing before and after touches. Although both factors are essential to achieve acceptable touches in human-human touch interaction, their effectiveness remains unknown in human-robot touch interaction contexts. To investigate the effects of these factors, we conducted an experiment whose results showed that being touched with before-touch timing is preferred to being touched with after-touch timing, although gaze-height did not significantly improve the feelings of robot-initiated touch.
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