Equipping Social Robots with Culturally-Sensitive Facial Expressions of Emotion Using Data-Driven Methods

Social robots must be able to generate realistic and recognizable facial expressions to engage their human users. Many social robots are equipped with standardized facial expressions of emotion that are widely considered to be universally recognized across all cultures. However, mounting evidence shows that these facial expressions are not universally recognized - for example, they elicit significantly lower recognition accuracy in East Asian cultures than they do in Western cultures. Therefore, without culturally sensitive facial expressions, state-of-the-art social robots are restricted in their ability to engage a culturally diverse range of human users, which in turn limits their global marketability. To develop culturally sensitive facial expressions, novel data-driven methods are used to model the dynamic face movement patterns that convey basic emotions (e.g., happy, sad, anger) in a given culture using cultural perception. Here, we tested whether such dynamic facial expression models, derived in an East Asian culture and transferred to a popular social robot, improved the social signalling generation capabilities of the social robot with East Asian participants. Results showed that, compared to the social robot's existing set of facial `universal' expressions, the culturally-sensitive facial expression models are recognized with generally higher accuracy and judged as more human-like by East Asian participants. We also detail the specific dynamic face movements (Action Units) that are associated with high recognition accuracy and judgments of human-likeness, including those that further boost performance. Our results therefore demonstrate the utility of using data-driven methods that employ human cultural perception to derive culturally-sensitive facial expressions that improve the social face signal generation capabilities of social robots. We anticipate that these methods will continue to inform the design of social robots and broaden their usability and global marketability

Cohousing IoT:Technology Design for Life In Community

This paper presents a research-through-design project to develop and interpret speculative smart home technologies for cohousing communities—Cohousing IoT. Fieldwork at multiple sites coupled to a constructive design research process led to three prototypes designed for cohousing communities: Cohousing Radio, Physical RSVP, and Participation Scales. These were brought back to the communities that inspired them as a form of evaluation, but also to generate new understandings of designing for cohousing. In discussing how they understand these prototypes, this paper offers an account of how research though design generates knowledge that is specific to the conditions and issues that matter to communities. This contributes to design research more broadly in two ways. First, it demonstrates how contemporary ideas of smart home technology are or could be made relevant to broader ways of living in the future. Second, it provides an example of how a design research process can serve to uncover community values, issues, and goals

Investigating the Role of Culture on Negative Emotion Expressions in the Wild

Even though culture has been found to play some role in negative emotion expression, affective computing research primarily takes on a basic emotion approach when analyzing social signals for automatic emotion recognition technologies. Furthermore, automatic negative emotion recognition systems still train data that originates primarily from North America and contains a majority of Caucasian training samples. As such, the current study aims to address this problem by analyzing what the differences are of the underlying social signals by leveraging machine learning models to classify 3 negative emotions, contempt, anger and disgust (CAD) amongst 3 different cultures: North American, Persian, and Filipino. Using a curated data set compiled from YouTube videos, a support vector machine (SVM) was used to predict negative emotions amongst differing cultures. In addition a one-way ANOVA was used to analyse the differences that exist between each culture group in-terms of level of activation of underlying social signal. Our results not only highlighted the significant differences in the associated social signals that were activated for each culture, but also indicated the specific underlying social signals that differ in our cross-cultural data sets. Furthermore, the automatic classification methods showed North American expressions of CAD to be well-recognized, while Filipino and Persian expressions were recognized at near chance levels

Conversational affective social robots for ageing and dementia support

Socially assistive robots (SAR) hold significant potential to assist older adults and people with dementia in human engagement and clinical contexts by supporting mental health and independence at home. While SAR research has recently experienced prolific growth, long-term trust, clinical translation and patient benefit remain immature. Affective human-robot interactions are unresolved and the deployment of robots with conversational abilities is fundamental for robustness and humanrobot engagement. In this paper, we review the state of the art within the past two decades, design trends, and current applications of conversational affective SAR for ageing and dementia support. A horizon scanning of AI voice technology for healthcare, including ubiquitous smart speakers, is further introduced to address current gaps inhibiting home use. We discuss the role of user-centred approaches in the design of voice systems, including the capacity to handle communication breakdowns for effective use by target populations. We summarise the state of development in interactions using speech and natural language processing, which forms a baseline for longitudinal health monitoring and cognitive assessment. Drawing from this foundation, we identify open challenges and propose future directions to advance conversational affective social robots for: 1) user engagement, 2) deployment in real-world settings, and 3) clinical translation

Addressing joint action challenges in HRI: Insights from psychology and philosophy

The vast expansion of research in human-robot interactions (HRI) these last decades has been accompanied by the design of increasingly skilled robots for engaging in joint actions with humans. However, these advances have encountered significant challenges to ensure fluent interactions and sustain human motivation through the different steps of joint action. After exploring current literature on joint action in HRI, leading to a more precise definition of these challenges, the present article proposes some perspectives borrowed from psychology and philosophy showing the key role of communication in human interactions. From mutual recognition between individuals to the expression of commitment and social expectations, we argue that communicative cues can facilitate coordination, prediction, and motivation in the context of joint action. The description of several notions thus suggests that some communicative capacities can be implemented in the context of joint action for HRI, leading to an integrated perspective of robotic communication.French National Research Agency (ANR) ANR-16-CE33-0017 ANR-17-EURE-0017 FrontCog ANR-10-IDEX-0001-02 PSLJuan de la Cierva-Incorporacion grant IJC2019-040199-ISpanish Government PID2019-108870GB-I00 PID2019-109764RB-I0

Small steps for mankind: Modeling the emergence of cumulative culture from joint active inference communication

Although the increase in the use of dynamical modeling in the literature on cultural evolution makes current models more mathematically sophisticated, these models have yet to be tested or validated. This paper provides a testable deep active inference formulation of social behavior and accompanying simulations of cumulative culture in two steps: First, we cast cultural transmission as a bi-directional process of communication that induces a generalized synchrony (operationalized as a particular convergence) between the belief states of interlocutors. Second, we cast social or cultural exchange as a process of active inference by equipping agents with the choice of who to engage in communication with. This induces trade-offs between confirmation of current beliefs and exploration of the social environment. We find that cumulative culture emerges from belief updating (i.e., active inference and learning) in the form of a joint minimization of uncertainty. The emergent cultural equilibria are characterized by a segregation into groups, whose belief systems are actively sustained by selective, uncertainty minimizing, dyadic exchanges. The nature of these equilibria depends sensitively on the precision afforded by various probabilistic mappings in each individual's generative model of their encultured niche

Cultural facial expressions dynamically convey emotion category and intensity information

Communicating emotional intensity plays a vital ecological role because it provides valuable information about the nature and likelihood of the sender’s behavior.1,2,3 For example, attack often follows signals of intense aggression if receivers fail to retreat.4,5 Humans regularly use facial expressions to communicate such information.6,7,8,9,10,11 Yet how this complex signaling task is achieved remains unknown. We addressed this question using a perception-based, data-driven method to mathematically model the specific facial movements that receivers use to classify the six basic emotions—"happy,” “surprise,” “fear,” “disgust,” “anger,” and “sad”—and judge their intensity in two distinct cultures (East Asian, Western European; total n = 120). In both cultures, receivers expected facial expressions to dynamically represent emotion category and intensity information over time, using a multi-component compositional signaling structure. Specifically, emotion intensifiers peaked earlier or later than emotion classifiers and represented intensity using amplitude variations. Emotion intensifiers are also more similar across emotions than classifiers are, suggesting a latent broad-plus-specific signaling structure. Cross-cultural analysis further revealed similarities and differences in expectations that could impact cross-cultural communication. Specifically, East Asian and Western European receivers have similar expectations about which facial movements represent high intensity for threat-related emotions, such as “anger,” “disgust,” and “fear,” but differ on those that represent low threat emotions, such as happiness and sadness. Together, our results provide new insights into the intricate processes by which facial expressions can achieve complex dynamic signaling tasks by revealing the rich information embedded in facial expressions

Data-driven Communicative Behaviour Generation: A Survey

The development of data-driven behaviour generating systems has recently become the focus of considerable attention in the fields of human–agent interaction and human–robot interaction. Although rule-based approaches were dominant for years, these proved inflexible and expensive to develop. The difficulty of developing production rules, as well as the need for manual configuration to generate artificial behaviours, places a limit on how complex and diverse rule-based behaviours can be. In contrast, actual human–human interaction data collected using tracking and recording devices makes humanlike multimodal co-speech behaviour generation possible using machine learning and specifically, in recent years, deep learning. This survey provides an overview of the state of the art of deep learning-based co-speech behaviour generation models and offers an outlook for future research in this area.</jats:p