The Social Perception of Humanoid and Non-Humanoid Robots: Effects of Gendered and Machinelike Features

Gender effect in human-machine communication: a neurophysiological study

Purpose

This study aimed to investigate the neural mechanism by which virtual chatbots' gender might influence users' usage intention and gender differences in human-machine communication.

Approach

Event-related potentials (ERPs) and subjective questionnaire methods were used to explore the usage intention of virtual chatbots, and statistical analysis was conducted through repeated measures ANOVA.

Results/findings

The findings of ERPs revealed that female virtual chatbots, compared to male virtual chatbots, evoked a larger amplitude of P100 and P200, implying a greater allocation of attentional resources toward female virtual chatbots. Considering participants' gender, the gender factors of virtual chatbots continued to influence N100, P100, and P200. Specifically, among female participants, female virtual chatbots induced a larger P100 and P200 amplitude than male virtual chatbots, indicating that female participants exhibited more attentional resources and positive emotions toward same-gender chatbots. Conversely, among male participants, male virtual chatbots induced a larger N100 amplitude than female virtual chatbots, indicating that male participants allocated more attentional resources toward male virtual chatbots. The results of the subjective questionnaire showed that regardless of participants' gender, users have a larger usage intention toward female virtual chatbots than male virtual chatbots.

Value

Our findings could provide designers with neurophysiological insights into designing better virtual chatbots that cater to users' psychological needs.

When Trustworthiness Meets Face: Facial Design for Social Robots

As a technical application in artificial intelligence, a social robot is one of the branches of robotic studies that emphasizes socially communicating and interacting with human beings. Although both robot and behavior research have realized the significance of social robot design for its market success and related emotional benefit to users, the specific design of the eye and mouth shape of a social robot in eliciting trustworthiness has received only limited attention. In order to address this research gap, our study conducted a 2 (eye shape) × 3 (mouth shape) full factorial between-subject experiment. A total of 211 participants were recruited and randomly assigned to the six scenarios in the study. After exposure to the stimuli, perceived trustworthiness and robot attitude were measured accordingly. The results showed that round eyes (vs. narrow eyes) and an upturned-shape mouth or neutral mouth (vs. downturned-shape mouth) for social robots could significantly improve people's trustworthiness and attitude towards social robots. The effect of eye and mouth shape on robot attitude are all mediated by the perceived trustworthiness. Trustworthy human facial features could be applied to the robot's face, eliciting a similar trustworthiness perception and attitude. In addition to empirical contributions to HRI, this finding could shed light on the design practice for a trustworthy-looking social robot.

How does the status of errant robot affect our desire for contact? - The moderating effect of team interdependence

Technological breakthroughs such as artificial intelligence and sensors make human-robot collaboration a reality. Robots with highly reliable, specialised skills gain informal status in collaborative teams, but factors such as unstructured work environments and task requirements make robot error inevitable. So how do status differences of errant robots affect the desire for contact, and do team characteristics also have an impact? This paper describes an intergroup experiment using the Experimental Vignette Method (EVM), based on the Expectation Violation Theory, 214 subjects were invited to test the following hypotheses: (1) Errant robot status has an influence on employees' desire for contact and support for robotics research through negative emotions; (2) Team interdependence is a boundary condition for the effect of errant robot status on negative emotions. This paper contributes to the literature on employee reactions to robot errors in human-robot collaboration and provides suggestions for robot status design.

Facial icons as indexes of emotions and intentions

Various objects and artifacts incorporate representations of faces, encompassing artworks like portraits, as well as ethnographic or industrial artifacts such as masks or humanoid robots. These representations exhibit diverse degrees of human-likeness, serving different functions and objectives. Despite these variations, they share common features, particularly facial attributes that serve as building blocks for facial expressions-an effective means of communicating emotions. To provide a unified conceptualization for this broad spectrum of face representations, we propose the term "facial icons" drawing upon Peirce's semiotic concepts. Additionally, based on these semiotic principles, we posit that facial icons function as indexes of emotions and intentions, and introduce a significant anthropological theory aligning with our proposition. Subsequently, we support our assertions by examining processes related to face and facial expression perception, as well as sensorimotor simulation processes involved in discerning others' mental states, including emotions. Our argumentation integrates cognitive and experimental evidence, reinforcing the pivotal role of facial icons in conveying mental states.

Sequential model based on human cognitive processing to robot acceptance

Robots have tremendous potential, and have recently been introduced not only for simple operations in factories, but also in workplaces where customer service communication is required. However, communication robots have not always been accepted. This study proposes a three-stage (first contact, interaction, and decision) model for robot acceptance based on the human cognitive process flow to design preferred robots and clarifies the elements of the robot and the processes that affect robot acceptance decision-making. Unlike previous robot acceptance models, the current model focuses on a sequential account of how people decide to accept, considering the interaction (or carry-over) effect between impressions established at each stage. According to the model, this study conducted a scenario-based experiment focusing on the impression of the first contact (a robot's appearance) and that formed during the interaction with robot (politeness of its conversation and behavior) on robot acceptance in both successful and slightly failed situations. The better the appearance of the robot and the more polite its behavior, the greater the acceptance rate. Importantly, there was no interaction between these two factors. The results indicating that the impressions of the first contact and interaction are additively processed suggest that we should accumulate findings that improving the appearance of the robot and making its communication behavior more human-like in politeness will lead to a more acceptable robot design.

Exploring the influence of anthropomorphic appearance on usage intention on online medical service robots (OMSRs): A neurophysiological study

Online medical service robots (OMSRs) are becoming increasingly important in the medical industry, and their design has become a highly focused issue. This study investigated the neuroeconomics underlying the formation of usage intention, specifically evaluating the impact of anthropomorphic appearance and age on users' intentions to use OMSRs. Event-related potentials were used to analyze electroencephalography signals recorded from participants. This study found that OMSRs with a low anthropomorphic appearance induced larger P200 and P300 amplitudes, resulting in increased attentional resources compared to OMSRs with a moderate or high anthropomorphic appearance. OMSRs with moderate anthropomorphic appearances captured more attention and elicited larger P200 and P300 than those with high anthropomorphic appearances. Regarding age characteristics, OMSRs with senior features attracted more attention and induced larger P200 and P300 amplitudes. In terms of usage intention, compared to the others, users demonstrate a stronger usage intention towards the low anthropomorphism of OMSRs. Additionally, compared to the senior ones, users also exhibit a stronger usage intention toward a young appearance of OMSRs. These findings provide valuable insights for robot designers and practitioners to improve the appearance of OMSRs.

Perception of robotic actions and the influence of gender

In our society interaction with robots is becoming more and more frequent since robots are not only used in the industry, but increasingly often in assistance and in health system. Perception of robots and their movements is crucial for their acceptance. Here we shortly review basic mechanisms of perception of actions, and then of perception of robotic and human movements. The literature demonstrates that there are commonalities, but also differences in the perception of human and robotic movements. Especially interesting are biologic gender differences in the perception of robotic movements. The results show that males seem to be more sensitive to the differences between robotic and anthropomorphic movements, whereas females seem not to perceive such differences. However, females transfer more anthropomorphic features to robotic movements. While looking at the brain activation during perception of humanoid and robotic movements in different genders one can conclude that different strategies are used; female seem to analyse robotic movements online, while male seem to use previous knowledge from interaction with robots. Further research is needed to specify more such gender differences.

How should robots exercise with people? Robot-mediated exergames win with music, social analogues, and gameplay clarity

Introduction: The modern worldwide trend toward sedentary behavior comes with significant health risks. An accompanying wave of health technologies has tried to encourage physical activity, but these approaches often yield limited use and retention. Due to their unique ability to serve as both a health-promoting technology and a social peer, we propose robots as a game-changing solution for encouraging physical activity. Methods: This article analyzes the eight exergames we previously created for the Rethink Baxter Research Robot in terms of four key components that are grounded in the video-game literature: repetition, pattern matching, music, and social design. We use these four game facets to assess gameplay data from 40 adult users who each experienced the games in balanced random order. Results: In agreement with prior research, our results show that relevant musical cultural references, recognizable social analogues, and gameplay clarity are good strategies for taking an otherwise highly repetitive physical activity and making it engaging and popular among users. Discussion: Others who study socially assistive robots and rehabilitation robotics can benefit from this work by considering the presented design attributes to generate future hypotheses and by using our eight open-source games to pursue follow-up work on social-physical exercise with robots.

Emotional experiences of service robots' anthropomorphic appearance: a multimodal measurement method

Anthropomorphic appearance is a key factor to affect users' attitudes and emotions. This research aimed to measure emotional experience caused by robots' anthropomorphic appearance with three levels - high, moderate, and low - using multimodal measurement. Fifty participants' physiological and eye-tracker data were recorded synchronously while they observed robot images that were displayed in random order. Afterward, the participants reported subjective emotional experiences and attitudes towards those robots. The results showed that the images of the moderately anthropomorphic service robots induced higher pleasure and arousal ratings, and yielded significantly larger pupil diameter and faster saccade velocity, than did the low or high robots. Moreover, participants' facial electromyography, skin conductance, and heart-rate responses were higher when observing moderately anthropomorphic service robots. An implication of the research is that service robots' appearance should be designed to be moderately anthropomorphic; too many human-like features or machine-like features may disturb users' positive emotions and attitudes.Practitioner Summary: This research aimed to measure emotional experience caused by three types of anthropomorphic service robots using a multimodal measurement experiment. The results showed that moderately anthropomorphic service robots evoked more positive emotion than high and low anthropomorphic robots. Too many human-like features or machine-like features may disturb users' positive emotions.

Facial Anthropomorphic Trustworthiness Scale for Social Robots: A Hybrid Approach

Social robots serve as autonomous systems for performing social behaviors and assuming social roles. However, there is a lack of research focusing on the specific measurement of facial trustworthiness toward anthropomorphic robots, particularly during initial interactions. To address this research gap, a hybrid deep convolution approach was employed in this study, involving a crowdsourcing platform for data collection and deep convolution and factor analysis for data processing. The goal was to develop a scale, called Facial Anthropomorphic Trustworthiness towards Social Robots (FATSR-17), to measure the trustworthiness of a robot's facial appearance. The final measurement scale comprised four dimensions, "ethics concern", "capability", "positive affect", and "anthropomorphism", consisting of 17 items. An iterative examination and a refinement process were conducted to ensure the scale's reliability and validity. The study contributes to the field of robot design by providing designers with a structured toolkit to create robots that appear trustworthy to users.

Perceived anthropomorphism and purchase intention using artificial intelligence technology: examining the moderated effect of trust

Purpose

This study explores features that impact consumers' purchase intention through artificial intelligence (AI), because it is believed that through artificial intelligence, consumers' intention to purchase grows significantly, especially in the retail sector, whereby retailers provide lucrative offers to motivate consumers. The study develops a theoretical framework based on media-richness theory to investigate the role of perceived anthropomorphism toward an intention to purchase products using AI.

Design/methodology/approach

The study is based on cross-sectional data through an online survey. The data have been analyzed using PLS-SEM and SPSS PROCESS macro.

Findings

The results show that consumers tend to demand anthropomorphized products to gain a better shopping experience and, therefore, demand features that attract and motivate them to purchase through artificial intelligence via mediating variables, such as perceived animacy and perceived intelligence. Moreover, trust in artificial intelligence moderates the relationship between perceived anthropomorphism and perceived animacy.

Originality/value

The study investigates and concludes with managerial and academic insights into consumer purchase intention through artificial intelligence in the retail and marketing sector.

How Should Your Assistive Robot Look Like? A Scoping Review on Embodiment for Assistive Robots

Assistive robots have the potential to support older people and people with disabilities in various tasks so that they can live more independently. One of the research challenges is the appearance of assistive robots so that they are accepted by prospective users and encourage interaction. This scoping review aims to identify studies that report preferences in order to derive indicators for the embodiment of a robot with assistance functions. A systematic literature research was conducted in the three electronic databases IEEE Xplore, ACM Digital Library and PubMed Central (PMC). Included papers date back not further than 2015 and report empirical studies about the preferred appearance of service robots. The search resulted in 1,760 papers. 29 were included, of which 20 papers reported quantitative studies, three described a qualitative and six a mixed-methods design. Out of these papers, seven categories of robot appearances and design components could be extracted. Most papers focused on humanoid or humanlike robots and components like facial features or gender aspects. Others relied on design that reflects the robot’s function or simulated emotions through light applications. Only eight studies focused on older adults, and no study on people with disabilities. The appearance of a humanoid robot is often described as favorable, but the definition of ‘humanoid’ varies widely within all analyzed studies and an explizit allocation of features is not possible. For their practical work, robot designers can extract various aspects from the papers; however, for generalization more research is necessary.

Social Robots Outdo the Not-So-Social Media for Self-Disclosure: Safe Machines Preferred to Unsafe Humans?

COVID-19 may not be a ‘youth disease’ but it nevertheless impacts the life of young people dramatically, loneliness and a negative mood being an unexpected additional pandemic. Many young people rely on social media for their feeling of connectedness with others. However, social media is suggested to have many negative effects on people’s anxiety. Instead of self-disclosing to others, design may develop alternatives to employ social robots for self-disclosure. In a follow-up on earlier work, we report on a lab experiment of self-disclosing negative emotions to a social media group as compared to writing a conventional diary journal or to talking to an AI-driven social robot after negative mood induction (i.e., viewing shocking earthquake footage). Participants benefitted the most from talking to a robot rather than from writing a journal page or sharing their feelings on social media. Self-disclosure on social media or writing a journal page did not differ significantly. In the design of interventions for mental well-being, human helpers thus far took center stage. Based on our results, we propose design alternatives for an empathic smart home, featuring social robots and chatbots for alleviating stress and anxiety: a social-media interference chatbot, smart watch plus speaker, and a mirror for self-reflection.

Designing Gestures of Robots in Specific Fields for Different Perceived Personality Traits

Since their development, social robots have been a popular topic of research, with numerous studies evaluating their functionality or task performance. In recent years, social robots have begun to be regarded as social actors at work, and their social attributes have been explored. Therefore, this study focused on four occupational fields (shopping reception, home companion, education, and security) where robots are widely used, exploring the influence of robot gestures on their perceived personality traits and comparing the gesture design guidelines required in specific occupational fields. The study was conducted in two stages. In the first stage, an interactive script was developed; moreover, observation was employed to derive gestures related to the discourse on the fields of interest. The second stage involved robot experimentation based on human–robot interaction through video. Results show that metaphoric gestures appeared less frequently than did deictic, iconic, or beat gestures. Robots’ perceived personality traits were categorized into sociality, competence, and status. Introducing all types of gestures helped enhance perceived sociality. The addition of deictic, and iconic gestures significantly improved perceived competence and perceived status. Regarding the shopping reception robot, after the inclusion of basic deictic and iconic gestures, sufficient beats gestures should be implemented to create a friendly and outgoing demeanor, thereby promoting user acceptance. In the home companion, education, and security contexts, the addition of beat gestures did not affect the overall acceptance level; the designs should instead be focused on the integration of the other gesture types.

Human–Robot Interaction in Industrial Settings: Perception of Multiple Participants at a Crossroad Intersection Scenario with Different Courtesy Cues

In environments shared with humans, Autonomous Mobile Robots (AMRs) should be designed with human-aware motion-planning skills. Even when AMRs can effectively avoid humans, only a handful of studies have evaluated the human perception of mobile robots. To establish appropriate non-verbal communication, robot movement should be legible and should consider the human element. In this paper, a study that evaluates humans’ perceptions of different AMR courtesy behaviors at industrial facilities, particularly at crossing areas, is presented. To evaluate the proposed kinesic courtesy cues, we proposed five tests (four proposed cues—stop, deceleration, retreating, and retreating and moving aside—and one control test) with a set of participants taken two by two. We assessed three different metrics, namely, the participants’ self-reported trust in AMR behavior, the legibility of the courtesy cues in the participants’ opinions, and the behavioral analysis of the participants related to each courtesy cue tested. The retreating courtesy cue, regarding the legibility of the AMR behavior, and the decelerate courtesy cue, regarding the behavioral analysis of the participants’ signs of hesitation, are better perceived from the forward view. The results obtained regarding the participants’ self-reported trust showed no significant differences in the two participant perspectives.

The effect of facial features on facial anthropomorphic trustworthiness in social robots

As the nature of human-robot relationships have become increasingly bound to shift from supervisor-machine to friend-companion, people have exhibited an increasing interest in making social judgments toward such anthropomorphic objects, such as trustworthiness. However, the facial features of social robots and their potential effect on anthropomorphic trustworthiness are seldom analyzed and discussed comprehensively. This study examined whether the trustworthiness perception toward a social robot shared similarity with baby schema features on the human face. It also explored the effects of different combinations of baby schema facial features, especially the positions and sizes of the eyes and mouth, on facial anthropomorphic trustworthiness. A 5-way mixed experiment (N = 270) was conducted accordingly. The results indicated that people would experience a high level of facial anthropomorphic trustworthiness toward robots with baby schema features (i.e., large eyes, with medium vertical and horizontal positions of the eyes and mouth). This paper contributes to the literature on facial anthropomorphic trustworthiness in human-robot interaction and provides suggestions for social robot design.

Service robots for affective labor: a sociology of labor perspective

Profit-oriented service sectors such as tourism, hospitality, and entertainment are increasingly looking at how professional service robots can be integrated into the workplace to perform socio-cognitive tasks that were previously reserved for humans. This is a work in which social and labor sciences recognize the principle role of emotions. However, the models and narratives of emotions that drive research, design, and deployment of service robots in human-robot interaction differ considerably from how emotions are framed in the sociology of labor and feminist studies of service work. In this paper, we explore these tensions through the concepts of affective and emotional labor, and outline key insights these concepts offer for the design and evaluation of professional service robots. Taken together, an emphasis on interactionist approaches to emotions and on the demands of affective labor, leads us to argue that service employees are under-represented in existing studies in human-robot interaction. To address this, we outline how participatory design and value-sensitive design approaches can be applied as complimentary methodological frameworks that include service employees as vital stakeholders.

The Social Robot in Rehabilitation and Assistance: What Is the Future?

This commentary aims to address the field of social robots both in terms of the global situation and research perspectives. It has four polarities. First, it revisits the evolutions in robotics, which, starting from collaborative robotics, has led to the diffusion of social robots. Second, it illustrates the main fields in the employment of social robots in rehabilitation and assistance in the elderly and handicapped and in further emerging sectors. Third, it takes a look at the future directions of the research development both in terms of clinical and technological aspects. Fourth, it discusses the opportunities and limits, starting from the development and clinical use of social robots during the COVID-19 pandemic to the increase of ethical discussion on their use.

Is the Social Desirability Effect in Human–Robot Interaction overestimated? A Conceptual Replication Study Indicates Less Robust Effects

The “Computers are social actors” (CASA) assumption (Nass and Moon in J Soc Issues 56:81–103, 2000. https://doi.org/10.1111/0022-4537.00153) states that humans apply social norms and expectations to technical devices. One such norm is to distort one’s own response in a socially desirable direction during interviews. However, findings for such an effect are mixed in the literature. Therefore, a new study on the effect of social desirability bias in human–robot evaluation was conducted, aiming for a conceptual replication of previous findings. In a between-subject laboratory experiment, $$N = 107$$ N = 107 participants had to evaluate the robot and the interaction quality after a short conversation in three different groups: In one group, the evaluation was conducted using (1) the same robot of the former interaction, (2) a different robot, (3) a tablet computer. According to the CASA assumption, it was expected, that evaluations on likability and quality of interaction, are higher in the condition with the same robot conducting the evaluation, compared to a different robot or a tablet computer because robots are treated as social actors and hence humans distort ratings in a socially desirable direction. Based on previous findings, we expected robots to evoke higher anthropomorphism and feelings of social presence compared to the tablet computer as potential explanation. However, the data did not support the hypotheses. Low sample size, low statistical power, lack of measurement validation and other problems that could lead to an overestimation of effect sizes—in this study and the literature in general—are discussed in light of the replicability crisis.

Trust in AI Agent: A Systematic Review of Facial Anthropomorphic Trustworthiness for Social Robot Design

As an emerging artificial intelligence system, social robot could socially communicate and interact with human beings. Although this area is attracting more and more attention, limited research has tried to systematically summarize potential features that could improve facial anthropomorphic trustworthiness for social robot. Based on the literature from human facial perception, product, and robot face evaluation, this paper systematically reviews, evaluates, and summarizes static facial features, dynamic features, their combinations, and related emotional expressions, shedding light on further exploration of facial anthropomorphic trustworthiness for social robot design.

The Primacy of Gender: Gendered Cognition Underlies the Big Two Dimensions of Social Cognition

It is notable that across distinct, siloed, and disconnected areas of psychology (e.g., developmental, personality, social), there exist two dimensions (the “Big Two”) that capture the ways in which people process, perceive, and navigate their social worlds. Despite their subtle distinctions and nomenclature, each shares the same underlying content; one revolves around independence, goal pursuit, and achievement, and the other revolves around other-focus, social orientation, and desire for connection. Why have these two dimensions emerged across disciplines, domains, and decades? Our answer: gender. We argue that the characteristics of the Big Two (e.g., agency/competence, communion/warmth) are reflections of psychological notions of masculinity and femininity that render gender the basis of the fundamental lens through which one sees the social world. Thus, although past work has identified the Big Two as a model to understand social categories, we argue that gender itself is the social category that explains the nature of the Big Two. We outline support for this theory and suggest implications of a gendered cognition in which gender not only provides functional utility for cognitive processing but simultaneously enforces gender roles and limits men and women’s opportunities. Recognizing that the Big Two reflect masculinity and femininity does not confine people to act in accordance with their gender but rather allows for novel interventions to reduce gender-based inequities.

A review of recent research in social robotics

Research in social robotics has a different emphasis from research in robotics for factory, military, hospital, home (vacuuming), aerial (drone), space, and undersea applications. A social robot is one whose purpose is to serve a person in a caring interaction rather than to perform a mechanical task. Both because of its newness and because of its narrower psychological rather than technological emphasis, research in social robotics tends currently to be concentrated in a single journal and single annual conference. This review categorizes such a research into three areas: (1) Affect, Personality and Adaptation; (2) Sensing and Control for Action; and (3 Assistance to the Elderly and Handicapped. Current application is primarily for children's toys and devices to comfort the elderly and handicapped, as detailed in Section 'Toys and the market for social robots in general'.