Exploiting the robot kinematic redundancy for emotion conveyance to humans as a lower priority task

Current approaches do not allow robots to execute a task and simultaneously convey emotions to users using their body motions. This paper explores the capabilities of the Jacobian null space of a humanoid robot to convey emotions. A task priority formulation has been implemented in a Pepper robot which allows the specification of a primary task (waving gesture, transportation of an object, etc.) and exploits the kinematic redundancy of the robot to convey emotions to humans as a lower priority task. The emotions, defined by Mehrabian as points in the pleasure–arousal–dominance space, generate intermediate motion features (jerkiness, activity and gaze) that carry the emotional information. A map from this features to the joints of the robot is presented. A user study has been conducted in which emotional motions have been shown to 30 participants. The results show that happiness and sadness are very well conveyed to the user, calm is moderately well conveyed, and fear is not well conveyed. An analysis on the dependencies between the motion features and the emotions perceived by the participants shows that activity correlates positively with arousal, jerkiness is not perceived by the user, and gaze conveys dominance when activity is low. The results indicate a strong influence of the most energetic motions of the emotional task and point out new directions for further research. Overall, the results show that the null space approach can be regarded as a promising mean to convey emotions as a lower priority task.Postprint (author's final draft

Toward a model of computational attention based on expressive behavior: applications to cultural heritage scenarios

Our project goals consisted in the development of attention-based analysis of human expressive behavior and the implementation of real-time algorithm in EyesWeb XMI in order to improve naturalness of human-computer interaction and context-based monitoring of human behavior. To this aim, perceptual-model that mimic human attentional processes was developed for expressivity analysis and modeled by entropy. Museum scenarios were selected as an ecological test-bed to elaborate three experiments that focus on visitor profiling and visitors flow regulation

Affective Medicine: a review of Affective Computing efforts in Medical Informatics

Background: Affective computing (AC) is concerned with emotional interactions performed with and through computers. It is defined as “computing that relates to, arises from, or deliberately influences emotions”. AC enables investigation and understanding of the relation between human emotions and health as well as application of assistive and useful technologies in the medical domain. Objectives: 1) To review the general state of the art in AC and its applications in medicine, and 2) to establish synergies between the research communities of AC and medical informatics. Methods: Aspects related to the human affective state as a determinant of the human health are discussed, coupled with an illustration of significant AC research and related literature output. Moreover, affective communication channels are described and their range of application fields is explored through illustrative examples. Results: The presented conferences, European research projects and research publications illustrate the recent increase of interest in the AC area by the medical community. Tele-home healthcare, AmI, ubiquitous monitoring, e-learning and virtual communities with emotionally expressive characters for elderly or impaired people are few areas where the potential of AC has been realized and applications have emerged. Conclusions: A number of gaps can potentially be overcome through the synergy of AC and medical informatics. The application of AC technologies parallels the advancement of the existing state of the art and the introduction of new methods. The amount of work and projects reviewed in this paper witness an ambitious and optimistic synergetic future of the affective medicine field

Computation of emotions

When people talk to each other, they express their feelings through facial expressions, tone of voice, body postures and gestures. They even do this when they are interacting with machines. These hidden signals are an important part of human communication, but most computer systems ignore them. Emotions need to be considered as an important mode of communication between people and interactive systems. Affective computing has enjoyed considerable success over the past 20 years, but many challenges remain.This is the author's accepted manuscript. The final version is available from ACM in ACM International Conference on Multimodal Interaction published at http://dl.acm.org/citation.cfm?id=2669638

What does touch tell us about emotions in touchscreen-based gameplay?

This is the post-print version of the Article. The official published version can be accessed from the link below - Copyright @ 2012 ACM. It is posted here by permission of ACM for your personal use. Not for redistribution.Nowadays, more and more people play games on touch-screen mobile phones. This phenomenon raises a very interesting question: does touch behaviour reflect the player’s emotional state? If possible, this would not only be a valuable evaluation indicator for game designers, but also for real-time personalization of the game experience. Psychology studies on acted touch behaviour show the existence of discriminative affective profiles. In this paper, finger-stroke features during gameplay on an iPod were extracted and their discriminative power analysed. Based on touch-behaviour, machine learning algorithms were used to build systems for automatically discriminating between four emotional states (Excited, Relaxed, Frustrated, Bored), two levels of arousal and two levels of valence. The results were very interesting reaching between 69% and 77% of correct discrimination between the four emotional states. Higher results (~89%) were obtained for discriminating between two levels of arousal and two levels of valence

Automatic Recognition of Affective Body Movement in a Video Game Scenario

This study aims at recognizing the affective states of players from non-acted, non-repeated body movements in the context of a video game scenario. A motion capture system was used to collect the movements of the participants while playing a Nintendo Wii tennis game. Then, a combination of body movement features along with a machine learning technique was used in order to automatically recognize emotional states from body movements. Our system was then tested for its ability to generalize to new participants and to new body motion data using a sub-sampling validation technique. To train and evaluate our system, online evaluation surveys were created using the body movements collected from the motion capture system and human observers were recruited to classify them into affective categories. The results showed that observer agreement levels are above chance level and the automatic recognition system achieved recognition rates comparable to the observers' benchmark. © 2012 ICST Institute for Computer Science, Social Informatics and Telecommunications Engineering

Expressive Copying Behavior for Social Agents: A Perceptual Analysis

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