JRM Vol.32 No.1 pp. 68-75
doi: 10.20965/jrm.2020.p0068


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

*3Keio University
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

July 19, 2019
October 29, 2019
February 20, 2020
human-robot interaction, touch, communication cue

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.

Touch with before-touch timing and crouching-down

Touch with before-touch timing and crouching-down

Cite this article as:
M. Shiomi, T. Hirano, M. Kimoto, T. Iio, and K. Shimohara, “Gaze-Height and Speech-Timing Effects on Feeling Robot-Initiated Touches,” J. Robot. Mechatron., Vol.32 No.1, pp. 68-75, 2020.
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