ExGenNet: Learning to Generate Robotic Facial Expression Using Facial Expression Recognition

The ability of a robot to generate appropriate facial expressions is a key aspect of perceived sociability in human-robot interaction. Yet many existing approaches rely on the use of a set of fixed, preprogrammed joint configurations for expression generation. Automating this process provides potential advantages to scale better to different robot types and various expressions. To this end, we introduce ExGenNet, a novel deep generative approach for facial expressions on humanoid robots. ExGenNets connect a generator network to reconstruct simplified facial images from robot joint configurations with a classifier network for state-of-the-art facial expression recognition. The robots' joint configurations are optimized for various expressions by backpropagating the loss between the predicted expression and intended expression through the classification network and the generator network. To improve the transfer between human training images and images of different robots, we propose to use extracted features in the classifier as well as in the generator network. Unlike most studies on facial expression generation, ExGenNets can produce multiple configurations for each facial expression and be transferred between robots. Experimental evaluations on two robots with highly human-like faces, Alfie (Furhat Robot) and the android robot Elenoide, show that ExGenNet can successfully generate sets of joint configurations for predefined facial expressions on both robots. This ability of ExGenNet to generate realistic facial expressions was further validated in a pilot study where the majority of human subjects could accurately recognize most of the generated facial expressions on both the robots

Mirroring and recognizing emotions through facial expressions for a Robokind platform

Dissertação de mestrado integrado em Engenharia Eletrónica Industrial e ComputadoresFacial expressions play an important role during human social interaction, enabling communicative cues, ascertaining the level of interest or signalling the desire to take a speaking turn. They also give continuous feedback indicating that the information conveyed has been understood. However, certain individuals have difficulties in social interaction in particular verbal and non-verbal communication (e.g. emotions and gestures). Autism Spectrum Disorders (ASD) are a special case of social impairments. Individuals that are affected with ASD are characterized by repetitive patterns of behaviour, restricted activities or interests, and impairments in social communication. The use of robots had already been proven to encourage the promotion of social interaction and skills in children with ASD. Following this trend, in this work a robotic platform is used as a mediator in the social interaction activities with children with special needs. The main purpose of this dissertation is to develop a system capable of automatic detecting emotions through facial expressions and interfacing it with a robotic platform in order to allow social interaction with children with special needs. The proposed experimental setup uses the Intel RealSense 3D camera and the Zeno R50 Robokind robotic platform. This layout has two subsystems, a Mirroring Emotion System (MES) and an Emotion Recognition System (ERS). The first subsystem (MES) is capable of synthetizing human emotions through facial expressions, on-line. The other subsystem (ERS) is able to recognize human emotions through facial features in real time. MES extracts the user facial Action Units (AUs), sends the data to the robot allowing on-line imitation. ERS uses Support Vector Machine (SVM) technique to automatic classify the emotion expressed by the User in real time. Finally, the proposed subsystems, MES and ERS, were evaluated in a laboratorial and controlled environment in order to check the integration and operation of the systems. Then, both subsystems were tested in a school environment in different configurations. The results of these preliminary tests allowed to detect some constraints of the system, as well as validate its adequacy in an intervention setting.As expressões faciais desempenham um papel importante na interação social, permitindo fornecer pistas comunicativas, conhecer o nível de interesse ou sinalizar o desejo de falar. No entanto, algumas pessoas têm dificuldades na interação social, em particular, na comunicação verbal e não-verbal (por exemplo, emoções e gestos). As Perturbações do Espectro do Autismo (PEA) são um caso especial de transtorno e dificuldades sociais. Os indivíduos que são afetados com PEA são caracterizados por padrões repetitivos de comportamento, atividades e interesses restritos e possuem deficiências na comunicação social. A utilização de robôs para incentivar a promoção da interação social e habilidades em crianças com PEA tem sido apresentada na literatura. Seguindo essa tendência, neste trabalho uma plataforma robótica é utilizada como um mediador nas atividades de interação social com crianças com necessidades especiais. O objetivo principal desta dissertação é desenvolver um sistema capaz de detetar automaticamente emoções através de expressões faciais e fazer interface com uma plataforma robótica, a fim de permitir uma interação social com crianças com necessidades especiais. O trabalho experimental proposto utiliza a câmara Intel RealSense 3D e a plataforma robótica Zeno R50 Robokind. Este esquema possui dois subsistemas, um sistema de imitação de expressões faciais (MES) e um sistema de reconhecimentos de emoções (ERS). O primeiro subsistema (MES) é capaz de sintetizar on-line as emoções humanas através de expressões faciais. O subsistema ERS é capaz de reconhecer em tempo-real emoções humanas através de características faciais. O MES extrai as Unidades de Ação faciais do utilizador (UAs), envia os dados para o robô permitindo imitação on-line. O ERS utiliza Support Vector Machine (SVM) para automaticamente classificar a emoção exibida pelo utilizador. Finalmente, os subsistemas propostos, MES e ERS, foram avaliados num ambiente laboratorial e controlado, a fim de verificar a integração e a operação de ambos. Em seguida, os subsistemas foram testados num ambiente escolar em diferentes configurações. Os resultados destes testes preliminares permitiram detetar algumas limitações do sistema, bem como validar a sua adequação na intervenção com crianças com necessidades especiais

ExGenNet: Learning to Generate Robotic Facial Expression Using Facial Expression Recognition

The ability of a robot to generate appropriate facial expressions is a key aspect of perceived sociability in human-robot interaction. Yet many existing approaches rely on the use of a set of fixed, preprogrammed joint configurations for expression generation. Automating this process provides potential advantages to scale better to different robot types and various expressions. To this end, we introduce ExGenNet, a novel deep generative approach for facial expressions on humanoid robots. ExGenNets connect a generator network to reconstruct simplified facial images from robot joint configurations with a classifier network for state-of-the-art facial expression recognition. The robots’ joint configurations are optimized for various expressions by backpropagating the loss between the predicted expression and intended expression through the classification network and the generator network. To improve the transfer between human training images and images of different robots, we propose to use extracted features in the classifier as well as in the generator network. Unlike most studies on facial expression generation, ExGenNets can produce multiple configurations for each facial expression and be transferred between robots. Experimental evaluations on two robots with highly human-like faces, Alfie (Furhat Robot) and the android robot Elenoide, show that ExGenNet can successfully generate sets of joint configurations for predefined facial expressions on both robots. This ability of ExGenNet to generate realistic facial expressions was further validated in a pilot study where the majority of human subjects could accurately recognize most of the generated facial expressions on both the robots

Lovotics: Love + Robotics, Sentimental Robot With Affective Artificial Intelligence

Ph.DDOCTOR OF PHILOSOPH

Affective automotive user interfaces

Technological progress in the fields of ubiquitous sensing and machine learning has been fueling the development of user-aware human-computer interaction in recent years. Especially natural user interfaces, like digital voice assistants, can benefit from understanding their users in order to provide a more naturalistic experience. Such systems can, for example, detect the emotional state of users and accordingly act in an empathic way. One major research field working on this topic is Affective Computing, where psycho-physiological measures, speech input, and facial expressions are used to sense human emotions. Affective data allows natural user interfaces to respond to emotions, providing promising perspectives not only for user experience design but also for safety aspects. In automotive environments, informed estimations of the driver’s state can potentially avoid dangerous errors and evoking positive emotions can improve the experience of driving. This dissertation explores Affective Automotive User Interfaces using two basic interaction paradigms: firstly, emotion regulation systems react to the current emotional state of the user based on live sensing data, allowing for quick interventions. Secondly, emotional interaction synthesizes experiences which resonate with the user on an emotional level. The constituted goals of these two interaction approaches are the promotion of safe behavior and an improvement of user experience. Promoting safe behavior through emotion regulation: Systems which detect and react to the driver’s state are expected to have great potential for improving road safety. This work presents a model and methods needed to investigate such systems and an exploration of several approaches to keep the driver in a safe state. The presented methods include techniques to induce emotions and to sample the emotional state of drivers. Three driving simulator studies investigate the impacts of emotionaware interventions in the form of implicit cues, visual mirroring and empathic speech synthesis. We envision emotion-awareness as a safety feature which can detect if a driver is unfit or in need of support, based on the propagation of robust emotion detection technology. Improving user experience with emotional interaction: Emotional perception is an essential part of user experience. This thesis entails methods to build emotional experiences derived from a variety of lab and simulator studies, expert feedback, car-storming sessions and design thinking workshops. Systems capable of adapting to the user’s preferences and traits in order to create an emotionally satisfactory user experience do not require the input of emotion detection. They rather create value through general knowledge about the user by adapting the output they generate. During this research, cultural and generational influences became evident, which have to be considered when implementing affective automotive user interfaces in future cars. We argue that the future of user-aware interaction lies in adapting not only to the driver’s preferences and settings but also to their current state. This paves the way for the regulation of safe behavior, especially in safety-critical environments like cars, and an improvement of the driving experience.Aktuelle Fortschritte in den Bereichen des Machine Learning und Ubiquitous Computing ermöglichen es heute adaptive Mensch-Maschine-Schnittstellen zu realisieren. Vor allem natürliche Interaktion, wie wir sie von Sprachassistenten kennen, profitiert von einem verbesserten Verständnis des Nutzerverhaltens. Zum Beispiel kann ein Assistent mit Informationen über den emotionalen Zustand des Nutzers natürlicher interagieren, vielleicht sogar Empathie zeigen. Affective Computing ist das damit verbundene Forschungsfeld, das sich damit beschäftigt menschliche Emotionen durch Beobachtung von physiologischen Daten, Sprache und Mimik zu erkennen. Dabei ermöglicht Emotionserkennung natürliche Interaktion auf Basis des Fahrer/innenzustands, was nicht nur vielversprechend in Bezug auf die Gestaltung des Nutzerelebnisses klingt, sondern auch Anwendungen im Bereich der Verkehrssicherheit hat. Ein Einsatz im Fahrkontext könnte so vermeidbare Unfälle verringern und gleichzeitig Fahrer durch emotionale Interaktion begeistern. Diese Dissertation beleuchtet Affective Automotive User Interfaces – zu Deutsch in etwa Emotionsadaptive Benutzerschnittstellen im Fahrzeug – auf Basis zweier inhaltlicher Säulen: erstens benutzen wir Ansätze zur Emotionsregulierung, um im Falle gefährlicher Fahrerzustände einzugreifen. Zweitens erzeugen wir emotional aufgeladene Interaktionen, um das Nutzererlebnis zu verbessern. Erhöhte Sicherheit durch Emotionsregulierung: Emotionsadaptiven Systemen wird ein großes Potenzial zur Verbesserung der Verkehrssicherheit zugeschrieben. Wir stellen ein Modell und Methoden vor, die zur Untersuchung solcher Systeme benötigt werden und erforschen Ansätze, die dazu dienen Fahrer in einer Gefühlslage zu halten, die sicheres Handeln erlaubt. Die vorgestellten Methoden beinhalten Ansätze zur Emotionsinduktion und -erkennung, sowie drei Fahrsimulatorstudien zur Beeinflussung von Fahrern durch indirekte Reize, Spiegeln von Emotionen und empathischer Sprachinteraktion. Emotionsadaptive Sicherheitssysteme können in Zukunft beeinträchtigten Fahrern Unterstützung leisten und so den Verkehr sicherer machen, vorausgesetzt die technischen Grundlagen der Emotionserkennung gewinnen an Reife. Verbesserung des Nutzererlebnisses durch emotionale Interaktion: Emotionen tragen einen großen Teil zum Nutzerlebnis bei, darum ist es nur sinnvoll den zweiten Fokuspunkt dieser Arbeit auf systeminitiierte emotionale Interaktion zu legen.Wir stellen die Ergebnisse nutzerzentrierter Ideenfindung und mehrer Evaluationsstudien der resultierenden Systeme vor. Um sich den Vorlieben und Eigenschaften von Nutzern anzupassen wird nicht zwingend Emotionserkennung benötigt. Der Mehrwert solcher Systeme besteht vielmehr darin, auf Basis verfügbarer Verhaltensdaten ein emotional anspruchsvolles Erlebnis zu ermöglichen. In unserer Arbeit stoßen wir außerdem auf kulturelle und demografische Einflüsse, die es bei der Gestaltung von emotionsadaptiven Nutzerschnittstellen zu beachten gibt. Wir sehen die Zukunft nutzeradaptiver Interaktion im Fahrzeug nicht in einer rein verhaltensbasierten Anpassung, sondern erwarten ebenso emotionsbezogene Innovationen. Dadurch können zukünftige Systeme sicherheitsrelevantes Verhalten regulieren und gleichzeitig das Fortbestehen der Freude am Fahren ermöglichen

Affective automotive user interfaces

Technological progress in the fields of ubiquitous sensing and machine learning has been fueling the development of user-aware human-computer interaction in recent years. Especially natural user interfaces, like digital voice assistants, can benefit from understanding their users in order to provide a more naturalistic experience. Such systems can, for example, detect the emotional state of users and accordingly act in an empathic way. One major research field working on this topic is Affective Computing, where psycho-physiological measures, speech input, and facial expressions are used to sense human emotions. Affective data allows natural user interfaces to respond to emotions, providing promising perspectives not only for user experience design but also for safety aspects. In automotive environments, informed estimations of the driver’s state can potentially avoid dangerous errors and evoking positive emotions can improve the experience of driving. This dissertation explores Affective Automotive User Interfaces using two basic interaction paradigms: firstly, emotion regulation systems react to the current emotional state of the user based on live sensing data, allowing for quick interventions. Secondly, emotional interaction synthesizes experiences which resonate with the user on an emotional level. The constituted goals of these two interaction approaches are the promotion of safe behavior and an improvement of user experience. Promoting safe behavior through emotion regulation: Systems which detect and react to the driver’s state are expected to have great potential for improving road safety. This work presents a model and methods needed to investigate such systems and an exploration of several approaches to keep the driver in a safe state. The presented methods include techniques to induce emotions and to sample the emotional state of drivers. Three driving simulator studies investigate the impacts of emotionaware interventions in the form of implicit cues, visual mirroring and empathic speech synthesis. We envision emotion-awareness as a safety feature which can detect if a driver is unfit or in need of support, based on the propagation of robust emotion detection technology. Improving user experience with emotional interaction: Emotional perception is an essential part of user experience. This thesis entails methods to build emotional experiences derived from a variety of lab and simulator studies, expert feedback, car-storming sessions and design thinking workshops. Systems capable of adapting to the user’s preferences and traits in order to create an emotionally satisfactory user experience do not require the input of emotion detection. They rather create value through general knowledge about the user by adapting the output they generate. During this research, cultural and generational influences became evident, which have to be considered when implementing affective automotive user interfaces in future cars. We argue that the future of user-aware interaction lies in adapting not only to the driver’s preferences and settings but also to their current state. This paves the way for the regulation of safe behavior, especially in safety-critical environments like cars, and an improvement of the driving experience.Aktuelle Fortschritte in den Bereichen des Machine Learning und Ubiquitous Computing ermöglichen es heute adaptive Mensch-Maschine-Schnittstellen zu realisieren. Vor allem natürliche Interaktion, wie wir sie von Sprachassistenten kennen, profitiert von einem verbesserten Verständnis des Nutzerverhaltens. Zum Beispiel kann ein Assistent mit Informationen über den emotionalen Zustand des Nutzers natürlicher interagieren, vielleicht sogar Empathie zeigen. Affective Computing ist das damit verbundene Forschungsfeld, das sich damit beschäftigt menschliche Emotionen durch Beobachtung von physiologischen Daten, Sprache und Mimik zu erkennen. Dabei ermöglicht Emotionserkennung natürliche Interaktion auf Basis des Fahrer/innenzustands, was nicht nur vielversprechend in Bezug auf die Gestaltung des Nutzerelebnisses klingt, sondern auch Anwendungen im Bereich der Verkehrssicherheit hat. Ein Einsatz im Fahrkontext könnte so vermeidbare Unfälle verringern und gleichzeitig Fahrer durch emotionale Interaktion begeistern. Diese Dissertation beleuchtet Affective Automotive User Interfaces – zu Deutsch in etwa Emotionsadaptive Benutzerschnittstellen im Fahrzeug – auf Basis zweier inhaltlicher Säulen: erstens benutzen wir Ansätze zur Emotionsregulierung, um im Falle gefährlicher Fahrerzustände einzugreifen. Zweitens erzeugen wir emotional aufgeladene Interaktionen, um das Nutzererlebnis zu verbessern. Erhöhte Sicherheit durch Emotionsregulierung: Emotionsadaptiven Systemen wird ein großes Potenzial zur Verbesserung der Verkehrssicherheit zugeschrieben. Wir stellen ein Modell und Methoden vor, die zur Untersuchung solcher Systeme benötigt werden und erforschen Ansätze, die dazu dienen Fahrer in einer Gefühlslage zu halten, die sicheres Handeln erlaubt. Die vorgestellten Methoden beinhalten Ansätze zur Emotionsinduktion und -erkennung, sowie drei Fahrsimulatorstudien zur Beeinflussung von Fahrern durch indirekte Reize, Spiegeln von Emotionen und empathischer Sprachinteraktion. Emotionsadaptive Sicherheitssysteme können in Zukunft beeinträchtigten Fahrern Unterstützung leisten und so den Verkehr sicherer machen, vorausgesetzt die technischen Grundlagen der Emotionserkennung gewinnen an Reife. Verbesserung des Nutzererlebnisses durch emotionale Interaktion: Emotionen tragen einen großen Teil zum Nutzerlebnis bei, darum ist es nur sinnvoll den zweiten Fokuspunkt dieser Arbeit auf systeminitiierte emotionale Interaktion zu legen.Wir stellen die Ergebnisse nutzerzentrierter Ideenfindung und mehrer Evaluationsstudien der resultierenden Systeme vor. Um sich den Vorlieben und Eigenschaften von Nutzern anzupassen wird nicht zwingend Emotionserkennung benötigt. Der Mehrwert solcher Systeme besteht vielmehr darin, auf Basis verfügbarer Verhaltensdaten ein emotional anspruchsvolles Erlebnis zu ermöglichen. In unserer Arbeit stoßen wir außerdem auf kulturelle und demografische Einflüsse, die es bei der Gestaltung von emotionsadaptiven Nutzerschnittstellen zu beachten gibt. Wir sehen die Zukunft nutzeradaptiver Interaktion im Fahrzeug nicht in einer rein verhaltensbasierten Anpassung, sondern erwarten ebenso emotionsbezogene Innovationen. Dadurch können zukünftige Systeme sicherheitsrelevantes Verhalten regulieren und gleichzeitig das Fortbestehen der Freude am Fahren ermöglichen

Design and Development of the eBear: A Socially Assistive Robot for Elderly People with Depression

There has been tremendous progress in the field of robotics in the past decade and especially developing humanoid robots with social abilities that can assist human at a socio-emotional level. The objective of this thesis is to develop and study a perceptive and expressive animal-like robot equipped with artificial intelligence in assisting the elderly people with depression. We investigated how social robots can become companions of elderly individuals with depression and improve their mood and increase their happiness and well-being. The robotic platform built in this thesis is a bear-like robot called the eBear. The eBear can show facial expression and head gesture, can understand user\u27s emotion using audio-video sensory inputs and machine learning, can speak and show relatively accurate visual speech, and make dialog with users. the eBear can respond to their questions by querying the Internet, and even encourage them to physically be more active and even perform simple physical exercises. Besides building the robot, the eBear was used in running a pilot study in which seven elderly people with mild to severe depression interacted with the eBear for about 45 minutes three times a week over one month. The results of the study show that interacting with the eBear can increase happiness and mood of these human users as measured by Face Scale, and Geriatric Depression Scale (GDS) score systems. In addition, using Almere Model, it was concluded that the acceptance of the social agent increased over the study period. Videos of the users interaction with the eBear was analyzed and eye gaze, and facial expressions were manually annotated to better understand the behavior changes of users with the eBear. Results of these analyses as well as the exit surveys completed by the users at the end of the study demonstrate that a social robot such as the eBear can be an effective companion for the elderly people and can be a new approach for depression treatment

Real-time generation and adaptation of social companion robot behaviors

Social robots will be part of our future homes. They will assist us in everyday tasks, entertain us, and provide helpful advice. However, the technology still faces challenges that must be overcome to equip the machine with social competencies and make it a socially intelligent and accepted housemate. An essential skill of every social robot is verbal and non-verbal communication. In contrast to voice assistants, smartphones, and smart home technology, which are already part of many people's lives today, social robots have an embodiment that raises expectations towards the machine. Their anthropomorphic or zoomorphic appearance suggests they can communicate naturally with speech, gestures, or facial expressions and understand corresponding human behaviors. In addition, robots also need to consider individual users' preferences: everybody is shaped by their culture, social norms, and life experiences, resulting in different expectations towards communication with a robot. However, robots do not have human intuition - they must be equipped with the corresponding algorithmic solutions to these problems. This thesis investigates the use of reinforcement learning to adapt the robot's verbal and non-verbal communication to the user's needs and preferences. Such non-functional adaptation of the robot's behaviors primarily aims to improve the user experience and the robot's perceived social intelligence. The literature has not yet provided a holistic view of the overall challenge: real-time adaptation requires control over the robot's multimodal behavior generation, an understanding of human feedback, and an algorithmic basis for machine learning. Thus, this thesis develops a conceptual framework for designing real-time non-functional social robot behavior adaptation with reinforcement learning. It provides a higher-level view from the system designer's perspective and guidance from the start to the end. It illustrates the process of modeling, simulating, and evaluating such adaptation processes. Specifically, it guides the integration of human feedback and social signals to equip the machine with social awareness. The conceptual framework is put into practice for several use cases, resulting in technical proofs of concept and research prototypes. They are evaluated in the lab and in in-situ studies. These approaches address typical activities in domestic environments, focussing on the robot's expression of personality, persona, politeness, and humor. Within this scope, the robot adapts its spoken utterances, prosody, and animations based on human explicit or implicit feedback.Soziale Roboter werden Teil unseres zukünftigen Zuhauses sein. Sie werden uns bei alltäglichen Aufgaben unterstützen, uns unterhalten und uns mit hilfreichen Ratschlägen versorgen. Noch gibt es allerdings technische Herausforderungen, die zunächst überwunden werden müssen, um die Maschine mit sozialen Kompetenzen auszustatten und zu einem sozial intelligenten und akzeptierten Mitbewohner zu machen. Eine wesentliche Fähigkeit eines jeden sozialen Roboters ist die verbale und nonverbale Kommunikation. Im Gegensatz zu Sprachassistenten, Smartphones und Smart-Home-Technologien, die bereits heute Teil des Lebens vieler Menschen sind, haben soziale Roboter eine Verkörperung, die Erwartungen an die Maschine weckt. Ihr anthropomorphes oder zoomorphes Aussehen legt nahe, dass sie in der Lage sind, auf natürliche Weise mit Sprache, Gestik oder Mimik zu kommunizieren, aber auch entsprechende menschliche Kommunikation zu verstehen. Darüber hinaus müssen Roboter auch die individuellen Vorlieben der Benutzer berücksichtigen. So ist jeder Mensch von seiner Kultur, sozialen Normen und eigenen Lebenserfahrungen geprägt, was zu unterschiedlichen Erwartungen an die Kommunikation mit einem Roboter führt. Roboter haben jedoch keine menschliche Intuition - sie müssen mit entsprechenden Algorithmen für diese Probleme ausgestattet werden. In dieser Arbeit wird der Einsatz von bestärkendem Lernen untersucht, um die verbale und nonverbale Kommunikation des Roboters an die Bedürfnisse und Vorlieben des Benutzers anzupassen. Eine solche nicht-funktionale Anpassung des Roboterverhaltens zielt in erster Linie darauf ab, das Benutzererlebnis und die wahrgenommene soziale Intelligenz des Roboters zu verbessern. Die Literatur bietet bisher keine ganzheitliche Sicht auf diese Herausforderung: Echtzeitanpassung erfordert die Kontrolle über die multimodale Verhaltenserzeugung des Roboters, ein Verständnis des menschlichen Feedbacks und eine algorithmische Basis für maschinelles Lernen. Daher wird in dieser Arbeit ein konzeptioneller Rahmen für die Gestaltung von nicht-funktionaler Anpassung der Kommunikation sozialer Roboter mit bestärkendem Lernen entwickelt. Er bietet eine übergeordnete Sichtweise aus der Perspektive des Systemdesigners und eine Anleitung vom Anfang bis zum Ende. Er veranschaulicht den Prozess der Modellierung, Simulation und Evaluierung solcher Anpassungsprozesse. Insbesondere wird auf die Integration von menschlichem Feedback und sozialen Signalen eingegangen, um die Maschine mit sozialem Bewusstsein auszustatten. Der konzeptionelle Rahmen wird für mehrere Anwendungsfälle in die Praxis umgesetzt, was zu technischen Konzeptnachweisen und Forschungsprototypen führt, die in Labor- und In-situ-Studien evaluiert werden. Diese Ansätze befassen sich mit typischen Aktivitäten in häuslichen Umgebungen, wobei der Schwerpunkt auf dem Ausdruck der Persönlichkeit, dem Persona, der Höflichkeit und dem Humor des Roboters liegt. In diesem Rahmen passt der Roboter seine Sprache, Prosodie, und Animationen auf Basis expliziten oder impliziten menschlichen Feedbacks an