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  • 1.
    Bergqvist, Amanda
    et al.
    Uppsala University, Disciplinary Domain of Humanities and Social Sciences, Faculty of Languages, Department of Scandinavian Languages.
    Manuvinakurike, Ramesh
    Intel Labs, Hillsboro, Oregon, United States.
    Karkada, Deepthi
    Intel Corp, Hillsboro, Oregon, United States.
    Paetzel, Maike
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
    Nontrivial Lexical Convergence in a Geography-Themed Game2020In: Proceedings of the SIGdial 2020 Conference, Association for Computational Linguistics, 2020, p. 209-214Conference paper (Refereed)
    Abstract [en]

    The present study aims to examine the prevalent notion that people entrain to the vocabulary of a dialogue system. Although previous research shows that people will replace their choice of words with simple substitutes, studies using more challenging substitutions are sparse. In this paper, we investigate whether people adapt their speech to the vocabulary of a dialogue system when the system's suggested words are not direct synonyms. 32 participants played a geography-themed game with a remote-controlled agent and were primed by referencing strategies (rather than individual terms) introduced in follow-up questions. Our results suggest that context-appropriate substitutes support convergence and that the convergence has a lasting effect within a dialogue session if the system's wording is more consistent with the norms of the domain than the original wording of the speaker.

  • 2.
    Bergqvist, Amanda
    et al.
    Uppsala University, Disciplinary Domain of Humanities and Social Sciences, Faculty of Languages, Department of Scandinavian Languages.
    Manuvinakurike, Ramesh
    Intel Corp, Santa Clara, CA 95051 USA..
    Karkada, Deepthi
    Intel Corp, Santa Clara, CA 95051 USA..
    Paetzel, Maike
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Nontrivial Lexical Convergence in a Geography-Themed Game2020In: SIGDIAL 2020: 21ST ANNUAL MEETING OF THE SPECIAL INTEREST GROUP ON DISCOURSE AND DIALOGUE (SIGDIAL 2020), ASSOC COMPUTATIONAL LINGUISTICS , 2020, p. 209-214Conference paper (Refereed)
    Abstract [en]

    The present study aims to examine the prevalent notion that people entrain to the vocabulary of a dialogue system. Although previous research shows that people will replace their choice of words with simple substitutes, studies using more challenging substitutions are sparse. In this paper, we investigate whether people adapt their speech to the vocabulary of a dialogue system when the system's suggested words are not direct synonyms. 32 participants played a geography-themed game with a remote-controlled agent and were primed by referencing strategies (rather than individual terms) introduced in follow-up questions. Our results suggest that context-appropriate substitutes support convergence and that the convergence has a lasting effect within a dialogue session if the system's wording is more consistent with the norms of the domain than the original wording of the speaker.

  • 3.
    Gerndt, Reinhard
    et al.
    Ostfalia Univ Appl Sci, D-38304 Wolfenbuttel, Germany..
    Paetzel, Maike
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Baltes, Jacky
    Natl Taiwan Normal Univ, Taipei 10610, Taiwan..
    Ly, Olivier
    Univ Bordeaux, F-33405 Talence, France..
    Bridging the Gap: On a Humanoid Robotics Rookie League2019In: RoboCup 2018: Robot World Cup XXII / [ed] Dirk Holz, Katie Genter, Maarouf Saad & Oskar von Stryk, Springer Nature , 2019, p. 193-204Conference paper (Refereed)
    Abstract [en]

    The 2050 robot-human soccer game is among the most prominent goals of RoboCup. All RoboCup leagues contribute to this goal, for example the Simulation Leagues with research on strategic game play, the Standard Platform League with stable walking and vision algorithms and the Humanoid League with mechatronics of bipedal robots. However, especially in the Humanoid League, the swift improvement in performance of the robots makes it significantly harder for newcomers to enter into this field of research. With robots increasing in size, with new challenges in mechatronics for bipedal robots and software increasing in complexity, the gap for new teams is widening on the course to the 2050 game. There have been many approaches to easy entry, such as the introduction of a two-league system in the Standard Platform (SPL) and Small Size League (SSL) or an 'educational challenge' at regional @home events. While the SPL and SSL approaches require fully developed hard- and software in order to compete, as the @home challenge, we propose an entry-level league with a reduced set of requirements to bridge the gap between the Junior level and advanced Humanoid League. We believe that the Humanoid League can only reach the 2050 goal if new researchers and universities can be attracted on a regular basis. Attracting new researchers requires an easy entry path for new teams, suitable for undergraduate students and universities with a limited budget. The 'Humanoid Rookie (Sub-) League' (HRL) will give new researchers and teams the time to gather experience and funds that are necessary to successfully participate in and contribute to the Humanoid League's development towards the 2050 game. This paper intends to spark discussion about the current state and the roadmap of the Humanoid League within the RoboCup community.

  • 4. Manuvinakurike, Ramesh
    et al.
    Paetzel, Maike
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Qu, Cheng
    Schlangen, David
    DeVault, David
    Toward incremental dialogue act segmentation in fast-paced interactive dialogue systems2016In: Proc. 17th Annual Meeting of the Special Interest Group on Discourse and Dialogue, 2016, p. 252-262Conference paper (Refereed)
  • 5. Mota, Pedro
    et al.
    Paetzel, Maike
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Fox, Andrea
    Amini, Aida
    Srinivasan, Siddarth
    Kennedy, James
    Lehman, Jill Fain
    Expressing coherent personality with incremental acquisition of multimodal behaviors2018In: Proc. 27th International Symposium on Robot and Human Interactive Communication, IEEE, 2018, p. 396-403Conference paper (Refereed)
  • 6.
    Paetzel, Maike
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction. RoboCup Team Hamburg Bit-Bots.
    A multidimensional perspective on the uncanny valley effect: Studying the interplay between a robot's appearance and interaction strategy2017In: Proc. Companion of 12th ACM/IEEE International Conference on Human-Robot Interaction, New York: ACM Press, 2017, p. 363-364Conference paper (Refereed)
  • 7.
    Paetzel, Maike
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    The influence of appearance and interaction strategy of a social robot on the feeling of uncanniness in humans2016In: Proc. 18th ACM International Conference on Multimodal Interaction, New York: ACM Press, 2016, p. 522-526Conference paper (Refereed)
  • 8.
    Paetzel, Maike
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction. RoboCup Team Hamburg Bit-Bots.
    Baltes, Jacky
    Gerndt, Reinhard
    Robots as Individuals in the Humanoid League2016In: RoboCup 2016: Robot World Cup XX, Springer, 2016Conference paper (Refereed)
    Abstract [en]

    Having the goal of winning against the human world champions in soccer in 2050 in mind, the Humanoid League is facing the challenges of having to increase field and robot size until the sizes of regular fields and regular players are reached in the year 2040. The next major step is foreseen for the year 2020, when minimum robot size will increase by 50%, the number of robots per team will increase and the field size will fourfold. All three aspects will have a crucial impact. For the organizers, it will become increasingly hard, if not impossible at some point, to make arrangements for up to six fields at the RoboCup venue. For the participants, sustaining a team of ever increasing robots, in size and numbers will be a similar challenge. We believe that the 2050 goal can only be achieved if a new scheme of competition of individual robots, playing with others, can be found. Then, teams could focus on a single robot. To encourage this, we propose to revise the competition scheme, moving away from participating with a team of robots to participating with a single robot, that preserves the competitive element of ranking performance of individual robots and awarding trophies. This paper is intended to spark a discussion of a rule change to encourage participation of single robots in the Humanoid League and still contribute to reaching the 2050 goal.

  • 9.
    Paetzel, Maike
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Castellano, Ginevra
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Let me get to know you better: Can interactions help to overcome uncanny feelings?2019In: Proc. 7th International Conference on Human–Agent Interaction, New York: Association for Computing Machinery (ACM), 2019, p. 59-67Conference paper (Refereed)
    Abstract [en]

    With an ever increasing demand for personal service robots and artificial assistants, companies, start-ups and researchers aim to better understand what makes robot platforms more likable. Some argue that increasing a robot's humanlikeness leads to a higher acceptability. Others, however, find that extremely humanlike robots are perceived as uncanny and are consequently often rejected by users. When investigating people's perception of robots, the focus of the related work lies almost solely on the first impression of these robots, often measured based on images or video clips of the robots alone. Little is known about whether these initial positive or negative feelings persist when giving people the chance to interact with the robot. In this paper, 48 participants were gradually exposed to the capabilities of a robot and their perception of it was tracked from their first impression to after playing a short interactive game with it. We found that initial uncanny feelings towards the robot were significantly decreased after getting to know it better, which further highlights the importance of using real interactive scenarios when studying people's perception of robots. In order to elicit uncanny feelings, we used the 3D blended embodiment Furhat and designed four different facial textures for it. Our work shows that a blended platform can cause different levels of discomfort towards it depending on the facial texture and may thus be an interesting tool for further research on the uncanny valley.

  • 10.
    Paetzel, Maike
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Hupont, Isabelle
    Varni, Giovanna
    Chetouani, Mohamed
    Peters, Christopher
    Castellano, Ginevra
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Exploring the link between self-assessed mimicry and embodiment in HRI2017In: Proc. Companion of 12th ACM/IEEE International Conference on Human-Robot Interaction, New York: ACM Press, 2017, p. 245-246Conference paper (Refereed)
    Abstract [en]

    This work explores the relationship between a robot's embodiment and people's ability to mimic its behavior. It presents a study in which participants were asked to mimic a 3D mixed-embodied robotic head and a 2D version of the same character. Quantitative and qualitative analysis were performed from questionnaires. Quantitative results show no significant influence of the character's embodiment on the self-assessed ability to mimic it, while qualitative ones indicate a preference for mimicking the robotic head.

  • 11.
    Paetzel, Maike
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
    Karkada, Deepthi
    Intel Corp, Hillsboro, Oregon, United States.
    Manuvinakurike, Ramesh
    Intel Labs, Hillsboro, Oregon, United States.
    RDG-Map: A Multimodal Corpus of Pedagogical Human-Agent Spoken Interactions2020In: Proceedings of the 12th Conference on Language Resources and Evaluation (LREC 2020) / [ed] Nicoletta Calzolari et al, Paris: The European Language Resources Association , 2020, p. 600-609Conference paper (Refereed)
    Abstract [en]

    This paper presents a multimodal corpus of 209 spoken game dialogues between a human and a remote-controlled artificial agent. The interactions involve people collaborating with the agent to identify countries on the world map as quickly as possible, which allows studying rapid and spontaneous dialogue with complex anaphoras, disfluent utterances and incorrect descriptions. The corpus consists of two parts: 8 hours of game interactions have been collected with a virtual unembodied agent online and 26.8 hours have been recorded with a physically embodied robot in a research lab. In addition to spoken audio recordings available for both parts, camera recordings and skeleton-, facial expression- and eye-gaze tracking data have been collected for the lab-based part of the corpus. In this paper, we introduce the pedagogical reference resolution game (RDG-Map) and the characteristics of the corpus collected. We also present an annotation scheme we developed in order to study the dialogue strategies utilized by the players. Based on a subset of 330 minutes of interactions annotated so far, we discuss initial insights into these strategies as well as the potential of the corpus for future research.

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  • 12.
    Paetzel, Maike
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Kennedy, James
    Castellano, Ginevra
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Lehman, Jill Fain
    Incremental acquisition and reuse of multimodal affective behaviors in a conversational agent2018In: Proc. 6th International Conference on Human-Agent Interaction, New York: ACM Press, 2018, p. 92-100Conference paper (Refereed)
  • 13.
    Paetzel, Maike
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Manuvinakurike, Ramesh
    Institute for Creative Technologies, University of Southern California, USA.
    "Can you say more about the location?": The Development of a Pedagogical Reference Resolution Agent2019Conference paper (Refereed)
    Abstract [en]

    In an increasingly globalized world, geographic literacy is crucial. In this paper, we present a collaborative two-player game to improve people's ability to locate countries on the world map. We discuss two implementations of the game: First, we created a web-based version which can be played with the remote-controlled agent Nellie. With the knowledge we gained from a large online data collection, we re-implemented the game so it can be played face-to-face with the Furhat robot Neil. Our analysis shows that participants found the game not just engaging to play, they also believe they gained lasting knowledge about the world map.

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  • 14.
    Paetzel, Maike
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Perugia, Giulia
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
    Castellano, Ginevra
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    The Influence of Robot Personality on the Development of Uncanny Feelings towards a Social Robot2021In: Computers in human behavior, ISSN 0747-5632, E-ISSN 1873-7692, Vol. 120, article id 106756Article in journal (Refereed)
    Abstract [en]

    Empirical investigations on the uncanny valley have almost solely focused on the analysis of people's non-interactive perception of a robot at first sight. Recent studies suggest, however, that these uncanny first impressions may be significantly altered over an interaction. What is yet to discover, however, is whether certain interaction patterns can lead to a faster decline in uncanny feelings. In this paper, we present a study in which participants with limited expertise in Computer Science played a collaborative geography game with the robot Furhat. During the game, Furhat displayed two personalities, which corresponded to two different interaction strategies. The robot was either optimistic and encouraging, or impatient and provocative. We performed the study in a science museum and recruited participants among the visitors. Our findings suggest that a robot that is rated high on agreeableness, emotional stability, and conscientiousness can indeed weaken uncanny feelings. This study has important implications for human-robot interaction design as it further highlights that a first impression, merely based on a robot's appearance, is not indicative of the affinity people might develop towards it throughout an interaction. Future work should thus emphasize investigations on finding exact interaction patterns that can help to overcome uncanny feelings.

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  • 15.
    Paetzel, Maike
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
    Perugia, Giulia
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
    Castellano, Ginevra
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
    The Persistence of First Impressions: The Effect of Repeated Interactions on the Perception of a Social Robot2020In: Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction (HRI '20), 2020, p. 73-82Conference paper (Refereed)
    Abstract [en]

    Numerous studies in social psychology have shown that familiarization across repeated interactions improves people's perception of the other. If and how these findings relate to human-robot interaction (HRI) is not well understood, even though such knowledge is crucial when pursuing long-term interactions. In our work, we investigate the persistence of first impressions by asking 49 participants to play a geography game with a robot. We measure how their perception of the robot changes over three sessions with three to ten days of zero exposure in between. Our results show that different perceptual dimensions stabilize within different time frames, with the robot's competence being the fastest to stabilize and perceived threat the most fluctuating over time. We also found evidence that perceptual differences between robots with varying levels of humanlikeness persist across repeated interactions. This study has important implications for HRI design as it sheds new light on the influence of robots' embodiment and interaction abilities. Moreover, it also impacts HRI theory as it presents novel findings contributing to research on the uncanny valley and robot perception in general.

  • 16.
    Paetzel, Maike
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Peters, Christopher
    KTH Royal Inst Technol, Stockholm, Sweden.
    Nyström, Ingela
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Castellano, Ginevra
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Congruency Matters – How ambiguous gender cues increase a robot’s uncanniness2016In: Social Robotics, Springer, 2016, p. 402-412Conference paper (Refereed)
    Abstract [en]

    Most research on the uncanny valley effect is concerned with the influence of human-likeness and realism as a trigger of an uncanny feeling in humans. There has been a lack of investigation on the effect of other dimensions, for example, gender. Back-projected robotic heads allow us to alter visual cues in the appearance of the robot in order to investigate how the perception of it changes. In this paper, we study the influence of gender on the perceived uncanniness. We conducted an experiment with 48 participants in which we used different modalities of interaction to change the strength of the gender cues in the robot. Results show that incongruence in the gender cues of the robot, and not its specific gender, influences the uncanniness of the back-projected robotic head. This finding has potential implications for both the perceptual mismatch and categorization ambiguity theory as a general explanation of the uncanny valley effect.

  • 17.
    Paetzel, Maike
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Peters, Christopher
    KTH Royal Inst Technol, Stockholm, Sweden.
    Nyström, Ingela
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Castellano, Ginevra
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Effects of multimodal cues on children's perception of uncanniness in a social robot2016In: Proc. 18th ACM International Conference on Multimodal Interaction, 2016, p. 297-301Conference paper (Refereed)
    Abstract [en]

    This paper investigates the influence of multimodal incongruent gender cues on the perception of a robot's uncanniness and gender in children. The back-projected robot head Furhat was equipped with a female and male face texture and voice synthesizer and the voice and facial cues were tested in congruent and incongruent combinations. 106 children between the age of 8 and 13 participated in the study. Results show that multimodal incongruent cues do not trigger the feeling of uncanniness in children. These results are significant as they support other recent research showing that the perception of uncanniness cannot be triggered by a categorical ambiguity in the robot. In addition, we found that children rely on auditory cues much stronger than on the facial cues when assigning a gender to the robot if presented with incongruent cues. These findings have implications for the robot design, as it seems possible to change the gender of a robot by only changing its voice without creating a feeling of uncanniness in a child.

  • 18.
    Paetzel, Maike
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Peters, Christopher
    Nyström, Ingela
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Castellano, Ginevra
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Preliminary results from using a back-projected robot head in uncanny valley research2016In: Proc. 25th International Symposium on Robot and Human Interactive Communication, Piscataway, NJ: IEEE, 2016, p. 944-945Conference paper (Other academic)
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  • 19.
    Paetzel, Maike
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction. RoboCup Team Hamburg Bit-Bots.
    Varni, Giovanna
    Univ Paris 06, Inst Syst Intelligents & Robot, Paris, France.
    Hupont, Isabelle
    Univ Paris 06, Inst Syst Intelligents & Robot, Paris, France.
    Chetouani, Mohamed
    Univ Paris 06, Inst Syst Intelligents & Robot, Paris, France.
    Peters, Christopher
    KTH Royal Inst Technol, Dept Computat Sci Technol, Stockholm, Sweden.
    Castellano, Ginevra
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Investigating the influence of embodiment on facial mimicry in HRI using computer vision-based measures2017In: Proc. 26th International Symposium on Robot and Human Interactive Communication (Ro-Man), IEEE, 2017, p. 579-586Conference paper (Refereed)
    Abstract [en]

    Mimicry plays an important role in social interaction. In human communication, it is used to establish rapport and bonding both with other humans, as well as robots and virtual characters. However, little is known about the underlying factors that elicit mimicry in humans when interacting with a robot. In this work, we study the influence of embodiment on participants' ability to mimic a social character. Participants were asked to intentionally mimic the laughing behavior of the Furhat mixed embodied robotic head and a 2D virtual version of the same character. To explore the effect of embodiment, we present two novel approaches to automatically assess people's ability to mimic based solely on videos of their facial expressions. In contrast to participants' self-assessment, the analysis of video recordings suggests a better ability to mimic when people interact with the 2D embodiment.

  • 20.
    Paetzel, Maike
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Varni, Giovanna
    Univ Paris Saclay, Telecom ParisTech, LTCI, F-75013 Paris, France.
    Hupont, Isabelle
    Sorbonne Univ, Inst Syst Intelligents & Robot, CNRS, UMR7222, Paris, France.
    Chetouani, Mohamed
    Sorbonne Univ, Inst Syst Intelligents & Robot, CNRS, UMR7222, Paris, France.
    Peters, Christopher
    KTH Royal Inst Technol, Dept Computat Sci Technol, Stockholm, Sweden.
    Castellano, Ginevra
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    The attribution of emotional state: How embodiment features and social traits affect the perception of an artificial agent2018In: Proc. 27th International Symposium on Robot and Human Interactive Communication, IEEE, 2018, p. 495-502Conference paper (Refereed)
    Abstract [en]

    Understanding emotional states is a challenging task which frequently leads to misinterpretation even in human observers. While the perception of emotions has been studied extensively in human psychology, little is known about what factors influence the human perception of emotions in robots and virtual characters. In this paper, we build on the Brunswik lens model to investigate the influence of (a) the agent's embodiment using a 2D virtual character, a 3D blended embodiment, a recording of the 3D platform and a recording of a human, as well as (b) the level of human-likeness on people's ability to interpret emotional facial expressions in an agent. In addition, we measure social traits of the human observers and analyze how they correlate to the success in recognizing emotional expressions. We find that interpersonal differences play a minor role in the perception of emotional states. However, both embodiment and human-likeness as well as related perceptual dimensions such as perceived social presence and uncanniness have an effect on the attribution of emotional states.

  • 21.
    Paetzel-Prüsmann, Maike
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    The Novelty in the Uncanny: Designing Interactions to Change First Impressions2020Doctoral thesis, comprehensive summary (Other academic)
    Abstract [en]

    In 1970, Japanese researcher Masahiro Mori published a seminal paper where he hypothesized that robots that appear human-like but are still distinguishable from being human would not attract people towards them, but instead cause an uncanny sensation. This phenomenon, known as the uncanny valley effect, has been widely studied within the social robotics community, and a multitude of experiments have since been conducted supporting Mori's hypothesis. The specifics of a robot's appearance and behavior leading to such an uncanny sensation, however, remain an open research question and require further study. These gaps in the causal relationship between uncanny feelings and a robot's design have lead uncanniness being increasingly used to explain any lack of enthusiasm towards robots, both in the scientific community and the general public. It is then often implicitly assumed that uncanny feelings towards a robot have damaging consequences for long-term human-robot interaction. Most empirical studies on the subject, however, focus on still images or short video clips of robots and participants are only exposed to these stimuli for small frames of time. The current literature on the uncanny valley does not thus allow a conclusion to be drawn about the persistence of uncanny feelings. This thesis addresses this gap in the body of knowledge by implementing interactive scenarios and performing a series of empirical investigations to study the development of people's uncanny feelings towards social robots over the course of one or several such interactive encounters with them. The findings suggest that novelty plays an important role in the feeling of uncanniness: Merely interacting with a robot for a brief period and thus giving human observers access to the robot's full behavioral stream lowers their rating of uncanny feelings towards the robot as compared to how they perceive it at first sight. Furthermore, repeated interactions with a robot can further lower uncanny impressions. These results contribute to the field of human-robot interaction, as they posit that increased exposure may result in limited feelings of uncanniness. This, in turn, potentially reduces the impact of uncanny feelings on long-term interactive encounters with robots. Instead of focusing on reducing the elicitation of uncanny first impressions, it may thus be more sustainable to further study how interactions can help people efficiently get to know a robot and overcome their initial reluctance towards it.

    List of papers
    1. Congruency Matters – How ambiguous gender cues increase a robot’s uncanniness
    Open this publication in new window or tab >>Congruency Matters – How ambiguous gender cues increase a robot’s uncanniness
    2016 (English)In: Social Robotics, Springer, 2016, p. 402-412Conference paper, Published paper (Refereed)
    Abstract [en]

    Most research on the uncanny valley effect is concerned with the influence of human-likeness and realism as a trigger of an uncanny feeling in humans. There has been a lack of investigation on the effect of other dimensions, for example, gender. Back-projected robotic heads allow us to alter visual cues in the appearance of the robot in order to investigate how the perception of it changes. In this paper, we study the influence of gender on the perceived uncanniness. We conducted an experiment with 48 participants in which we used different modalities of interaction to change the strength of the gender cues in the robot. Results show that incongruence in the gender cues of the robot, and not its specific gender, influences the uncanniness of the back-projected robotic head. This finding has potential implications for both the perceptual mismatch and categorization ambiguity theory as a general explanation of the uncanny valley effect.

    Place, publisher, year, edition, pages
    Springer, 2016
    Series
    Lecture Notes in Computer Science, ISSN 0302-9743 ; 9979
    National Category
    Robotics
    Identifiers
    urn:nbn:se:uu:diva-308416 (URN)10.1007/978-3-319-47437-3_39 (DOI)000389816500039 ()978-3-319-47436-6 (ISBN)978-3-319-47437-3 (ISBN)
    Conference
    ICSR 2016, November 1–3, Kansas City, MO
    Available from: 2016-10-07 Created: 2016-11-25 Last updated: 2020-09-06Bibliographically approved
    2. Expressing coherent personality with incremental acquisition of multimodal behaviors
    Open this publication in new window or tab >>Expressing coherent personality with incremental acquisition of multimodal behaviors
    Show others...
    2018 (English)In: Proc. 27th International Symposium on Robot and Human Interactive Communication, IEEE, 2018, p. 396-403Conference paper, Published paper (Refereed)
    Place, publisher, year, edition, pages
    IEEE, 2018
    National Category
    Human Computer Interaction
    Identifiers
    urn:nbn:se:uu:diva-398379 (URN)10.1109/ROMAN.2018.8525763 (DOI)978-1-5386-7980-7 (ISBN)
    Conference
    RO-MAN 2018, August 27–31, Nanjing, China
    Available from: 2018-11-08 Created: 2019-12-05 Last updated: 2020-09-06Bibliographically approved
    3. "Can you say more about the location?": The Development of a Pedagogical Reference Resolution Agent
    Open this publication in new window or tab >>"Can you say more about the location?": The Development of a Pedagogical Reference Resolution Agent
    2019 (English)Conference paper, Published paper (Refereed)
    Abstract [en]

    In an increasingly globalized world, geographic literacy is crucial. In this paper, we present a collaborative two-player game to improve people's ability to locate countries on the world map. We discuss two implementations of the game: First, we created a web-based version which can be played with the remote-controlled agent Nellie. With the knowledge we gained from a large online data collection, we re-implemented the game so it can be played face-to-face with the Furhat robot Neil. Our analysis shows that participants found the game not just engaging to play, they also believe they gained lasting knowledge about the world map.

    National Category
    Human Computer Interaction
    Identifiers
    urn:nbn:se:uu:diva-398386 (URN)
    Conference
    Dialogue for Good - Workshop on Speech and Language Technology Serving Society (DiGo), Stockholm, Sweden, 10 September, 2019
    Available from: 2019-12-05 Created: 2019-12-05 Last updated: 2020-09-06Bibliographically approved
    4. The attribution of emotional state: How embodiment features and social traits affect the perception of an artificial agent
    Open this publication in new window or tab >>The attribution of emotional state: How embodiment features and social traits affect the perception of an artificial agent
    Show others...
    2018 (English)In: Proc. 27th International Symposium on Robot and Human Interactive Communication, IEEE, 2018, p. 495-502Conference paper, Published paper (Refereed)
    Abstract [en]

    Understanding emotional states is a challenging task which frequently leads to misinterpretation even in human observers. While the perception of emotions has been studied extensively in human psychology, little is known about what factors influence the human perception of emotions in robots and virtual characters. In this paper, we build on the Brunswik lens model to investigate the influence of (a) the agent's embodiment using a 2D virtual character, a 3D blended embodiment, a recording of the 3D platform and a recording of a human, as well as (b) the level of human-likeness on people's ability to interpret emotional facial expressions in an agent. In addition, we measure social traits of the human observers and analyze how they correlate to the success in recognizing emotional expressions. We find that interpersonal differences play a minor role in the perception of emotional states. However, both embodiment and human-likeness as well as related perceptual dimensions such as perceived social presence and uncanniness have an effect on the attribution of emotional states.

    Place, publisher, year, edition, pages
    IEEE, 2018
    National Category
    Human Computer Interaction
    Identifiers
    urn:nbn:se:uu:diva-398384 (URN)10.1109/ROMAN.2018.8525700 (DOI)000494315600079 ()978-1-5386-7980-7 (ISBN)
    Conference
    RO-MAN 2018, August 27–31, Nanjing, China
    Available from: 2018-11-08 Created: 2019-12-05 Last updated: 2020-09-06Bibliographically approved
    5. Let me get to know you better: Can interactions help to overcome uncanny feelings?
    Open this publication in new window or tab >>Let me get to know you better: Can interactions help to overcome uncanny feelings?
    2019 (English)In: Proc. 7th International Conference on Human–Agent Interaction, New York: Association for Computing Machinery (ACM), 2019, p. 59-67Conference paper, Published paper (Refereed)
    Abstract [en]

    With an ever increasing demand for personal service robots and artificial assistants, companies, start-ups and researchers aim to better understand what makes robot platforms more likable. Some argue that increasing a robot's humanlikeness leads to a higher acceptability. Others, however, find that extremely humanlike robots are perceived as uncanny and are consequently often rejected by users. When investigating people's perception of robots, the focus of the related work lies almost solely on the first impression of these robots, often measured based on images or video clips of the robots alone. Little is known about whether these initial positive or negative feelings persist when giving people the chance to interact with the robot. In this paper, 48 participants were gradually exposed to the capabilities of a robot and their perception of it was tracked from their first impression to after playing a short interactive game with it. We found that initial uncanny feelings towards the robot were significantly decreased after getting to know it better, which further highlights the importance of using real interactive scenarios when studying people's perception of robots. In order to elicit uncanny feelings, we used the 3D blended embodiment Furhat and designed four different facial textures for it. Our work shows that a blended platform can cause different levels of discomfort towards it depending on the facial texture and may thus be an interesting tool for further research on the uncanny valley.

    Place, publisher, year, edition, pages
    New York: Association for Computing Machinery (ACM), 2019
    Keywords
    Uncanny Valley, Embodiment, Human-Robot Interaction
    National Category
    Human Computer Interaction
    Identifiers
    urn:nbn:se:uu:diva-398376 (URN)10.1145/3349537.3351894 (DOI)000719339300010 ()978-1-4503-6922-0 (ISBN)
    Conference
    HAI 2019, October 6–10, Kyoto, Japan
    Funder
    Swedish Research Council, 2015-04378European Commission, 2015-04378
    Available from: 2019-09-25 Created: 2019-12-05 Last updated: 2022-06-23Bibliographically approved
    6. The Influence of Robot Personality on the Development of Uncanny Feelings towards a Social Robot
    Open this publication in new window or tab >>The Influence of Robot Personality on the Development of Uncanny Feelings towards a Social Robot
    2021 (English)In: Computers in human behavior, ISSN 0747-5632, E-ISSN 1873-7692, Vol. 120, article id 106756Article in journal (Refereed) Published
    Abstract [en]

    Empirical investigations on the uncanny valley have almost solely focused on the analysis of people's non-interactive perception of a robot at first sight. Recent studies suggest, however, that these uncanny first impressions may be significantly altered over an interaction. What is yet to discover, however, is whether certain interaction patterns can lead to a faster decline in uncanny feelings. In this paper, we present a study in which participants with limited expertise in Computer Science played a collaborative geography game with the robot Furhat. During the game, Furhat displayed two personalities, which corresponded to two different interaction strategies. The robot was either optimistic and encouraging, or impatient and provocative. We performed the study in a science museum and recruited participants among the visitors. Our findings suggest that a robot that is rated high on agreeableness, emotional stability, and conscientiousness can indeed weaken uncanny feelings. This study has important implications for human-robot interaction design as it further highlights that a first impression, merely based on a robot's appearance, is not indicative of the affinity people might develop towards it throughout an interaction. Future work should thus emphasize investigations on finding exact interaction patterns that can help to overcome uncanny feelings.

    Place, publisher, year, edition, pages
    Elsevier BV, 2021
    Keywords
    human-robot interaction, uncanny valley, robot personality, human perception of robots, crowd-sourcing, multimodal behavior
    National Category
    Computer Sciences
    Research subject
    Computer Science with specialization in Human-Computer Interaction
    Identifiers
    urn:nbn:se:uu:diva-418923 (URN)10.1016/j.chb.2021.106756 (DOI)000641329700005 ()
    Funder
    Swedish Foundation for Strategic Research, RIT15-013
    Available from: 2020-09-06 Created: 2020-09-06 Last updated: 2023-08-14Bibliographically approved
    7. The Persistence of First Impressions: The Effect of Repeated Interactions on the Perception of a Social Robot
    Open this publication in new window or tab >>The Persistence of First Impressions: The Effect of Repeated Interactions on the Perception of a Social Robot
    2020 (English)In: Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction (HRI '20), 2020, p. 73-82Conference paper, Published paper (Refereed)
    Abstract [en]

    Numerous studies in social psychology have shown that familiarization across repeated interactions improves people's perception of the other. If and how these findings relate to human-robot interaction (HRI) is not well understood, even though such knowledge is crucial when pursuing long-term interactions. In our work, we investigate the persistence of first impressions by asking 49 participants to play a geography game with a robot. We measure how their perception of the robot changes over three sessions with three to ten days of zero exposure in between. Our results show that different perceptual dimensions stabilize within different time frames, with the robot's competence being the fastest to stabilize and perceived threat the most fluctuating over time. We also found evidence that perceptual differences between robots with varying levels of humanlikeness persist across repeated interactions. This study has important implications for HRI design as it sheds new light on the influence of robots' embodiment and interaction abilities. Moreover, it also impacts HRI theory as it presents novel findings contributing to research on the uncanny valley and robot perception in general.

    Keywords
    Robot Perception, First Impressions, Embodiment, Uncanny Valley
    National Category
    Computer Sciences Human Computer Interaction
    Research subject
    Computer Science with specialization in Human-Computer Interaction
    Identifiers
    urn:nbn:se:uu:diva-418922 (URN)10.1145/3319502.3374786 (DOI)000570011000009 ()978-1-4503-6746-2 (ISBN)
    Conference
    ACM/IEEE International Conference on Human-Robot Interaction (2020), March 23–26, 2020, Cambridge, United Kingdom
    Funder
    Swedish Foundation for Strategic Research , RIT15-013
    Available from: 2020-09-06 Created: 2020-09-06 Last updated: 2020-10-21Bibliographically approved
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  • 22.
    Perugia, Giulia
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
    Paetzel, Maike
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Castellano, Ginevra
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    On the Role of Personality and Empathy in Human-Human, Human-Agent, and Human-Robot Mimicry2020In: Social Robotics: 12th International Conference, ICSR 2020, Golden, CO, USA, November 14–18, 2020, Proceedings / [ed] Alan R. Wagner, David Feil-Seifer, Kerstin S. Haring, Silvia Rossi, Thomas Williams, Hongsheng He & Shuzhi Sam Ge, Cham: Springer, 2020, p. 120-131Conference paper (Refereed)
    Abstract [en]

    Facial mimicry is crucial in social interactions as it communicates the intent to bond with another person. While human-human mimicry has been extensively studied, human-agent and human-robot mimicry have been addressed only recently, and the individual characteristics that affect them are still unknown. This paper explores whether the humanlikeness and embodiment of an agent affect human facial mimicry and which personality and empathy traits are related to facial mimicry of human and artificial agents. We exposed 46 participants to the six basic emotions displayed by a video-recorded human and three artificial agents (a physical robot, a video-recorded robot, and a virtual agent) differing in humanlikeness (humanlike, characterlike, and a morph between the two). We asked participants to recognize the facial expressions performed by each agent and measured their facial mimicry using automatic detection of facial action unit activation. Results showed that mimicry was affected by the agents’ embodiment, but not by their humanlikeness, and that it correlated both with individual traits denoting sociability and sympathy and with traits advantageous for emotion recognition

1 - 22 of 22
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