---
_id: '17225'
abstract:
- lang: eng
  text: How is communicative gesture behavior in robots perceived by humans? Although
    gesture is crucial in social interaction, this research question is still largely
    unexplored in the field of social robotics. Thus, the main objective of the present
    work is to investigate how gestural machine behaviors can be used to design more
    natural communication in social robots. The chosen approach is twofold. Firstly,
    the technical challenges encountered when implementing a speech-gesture generation
    model on a robotic platform are tackled. We present a framework that enables the
    humanoid robot to flexibly produce synthetic speech and co-verbal hand and arm
    gestures at run-time, while not being limited to a predefined repertoire of motor
    actions. Secondly, the achieved flexibility in robot gesture is exploited in controlled
    experiments. To gain a deeper understanding of how communicative robot gesture
    might impact and shape human perception and evaluation of human-robot interaction,
    we conducted a between-subjects experimental study using the humanoid robot in
    a joint task scenario. We manipulated the non-verbal behaviors of the robot in
    three experimental conditions, so that it would refer to objects by utilizing
    either (1) unimodal (i.e., speech only) utterances, (2) congruent multimodal (i.e.,
    semantically matching speech and gesture) or (3) incongruent multimodal (i.e.,
    semantically non-matching speech and gesture) utterances. Our findings reveal
    that the robot is evaluated more positively when non-verbal behaviors such as
    hand and arm gestures are displayed along with speech, even if they do not semantically
    match the spoken utterance.
author:
- first_name: Maha
  full_name: Salem, Maha
  last_name: Salem
- first_name: Stefan
  full_name: Kopp, Stefan
  last_name: Kopp
- first_name: Ipke
  full_name: Wachsmuth, Ipke
  last_name: Wachsmuth
- first_name: Katharina
  full_name: Rohlfing, Katharina
  id: '50352'
  last_name: Rohlfing
- first_name: Frank
  full_name: Joublin, Frank
  last_name: Joublin
citation:
  ama: Salem M, Kopp S, Wachsmuth I, Rohlfing K, Joublin F. Generation and evaluation
    of communicative robot gesture. <i>International Journal of Social Robotics, Special
    Issue on Expectations, Intentions, and Actions</i>. 2012;4(2):201-217. doi:<a
    href="https://doi.org/10.1007/s12369-011-0124-9">10.1007/s12369-011-0124-9</a>
  apa: Salem, M., Kopp, S., Wachsmuth, I., Rohlfing, K., &#38; Joublin, F. (2012).
    Generation and evaluation of communicative robot gesture. <i>International Journal
    of Social Robotics, Special Issue on Expectations, Intentions, and Actions</i>,
    <i>4</i>(2), 201–217. <a href="https://doi.org/10.1007/s12369-011-0124-9">https://doi.org/10.1007/s12369-011-0124-9</a>
  bibtex: '@article{Salem_Kopp_Wachsmuth_Rohlfing_Joublin_2012, title={Generation
    and evaluation of communicative robot gesture}, volume={4}, DOI={<a href="https://doi.org/10.1007/s12369-011-0124-9">10.1007/s12369-011-0124-9</a>},
    number={2}, journal={International Journal of Social Robotics, Special Issue on
    Expectations, Intentions, and Actions}, publisher={Springer Science + Business
    Media}, author={Salem, Maha and Kopp, Stefan and Wachsmuth, Ipke and Rohlfing,
    Katharina and Joublin, Frank}, year={2012}, pages={201–217} }'
  chicago: 'Salem, Maha, Stefan Kopp, Ipke Wachsmuth, Katharina Rohlfing, and Frank
    Joublin. “Generation and Evaluation of Communicative Robot Gesture.” <i>International
    Journal of Social Robotics, Special Issue on Expectations, Intentions, and Actions</i>
    4, no. 2 (2012): 201–17. <a href="https://doi.org/10.1007/s12369-011-0124-9">https://doi.org/10.1007/s12369-011-0124-9</a>.'
  ieee: 'M. Salem, S. Kopp, I. Wachsmuth, K. Rohlfing, and F. Joublin, “Generation
    and evaluation of communicative robot gesture,” <i>International Journal of Social
    Robotics, Special Issue on Expectations, Intentions, and Actions</i>, vol. 4,
    no. 2, pp. 201–217, 2012, doi: <a href="https://doi.org/10.1007/s12369-011-0124-9">10.1007/s12369-011-0124-9</a>.'
  mla: Salem, Maha, et al. “Generation and Evaluation of Communicative Robot Gesture.”
    <i>International Journal of Social Robotics, Special Issue on Expectations, Intentions,
    and Actions</i>, vol. 4, no. 2, Springer Science + Business Media, 2012, pp. 201–17,
    doi:<a href="https://doi.org/10.1007/s12369-011-0124-9">10.1007/s12369-011-0124-9</a>.
  short: M. Salem, S. Kopp, I. Wachsmuth, K. Rohlfing, F. Joublin, International Journal
    of Social Robotics, Special Issue on Expectations, Intentions, and Actions 4 (2012)
    201–217.
date_created: 2020-06-24T13:01:48Z
date_updated: 2023-02-01T16:21:50Z
department:
- _id: '749'
doi: 10.1007/s12369-011-0124-9
intvolume: '         4'
issue: '2'
keyword:
- Social Human-Robot Interaction
- Multimodal Interaction and Conversational Skills
- Robot Companions and Social Robots
- Non-verbal Cues and Expressiveness
language:
- iso: eng
page: 201-217
publication: International Journal of Social Robotics, Special Issue on Expectations,
  Intentions, and Actions
publication_identifier:
  issn:
  - 1875-4805
publisher: Springer Science + Business Media
status: public
title: Generation and evaluation of communicative robot gesture
type: journal_article
user_id: '14931'
volume: 4
year: '2012'
...
---
_id: '17428'
abstract:
- lang: eng
  text: How is communicative gesture behavior in robots perceived by humans? Although
    gesture is crucial in social interaction, this research question is still largely
    unexplored in the field of social robotics. Thus, the main objective of the present
    work is to investigate how gestural machine behaviors can be used to design more
    natural communication in social robots. The chosen approach is twofold. Firstly,
    the technical challenges encountered when implementing a speech-gesture generation
    model on a robotic platform are tackled. We present a framework that enables the
    humanoid robot to flexibly produce synthetic speech and co-verbal hand and arm
    gestures at run-time, while not being limited to a predefined repertoire of motor
    actions. Secondly, the achieved flexibility in robot gesture is exploited in controlled
    experiments. To gain a deeper understanding of how communicative robot gesture
    might impact and shape human perception and evaluation of human-robot interaction,
    we conducted a between-subjects experimental study using the humanoid robot in
    a joint task scenario. We manipulated the non-verbal behaviors of the robot in
    three experimental conditions, so that it would refer to objects by utilizing
    either (1) unimodal (i.e., speech only) utterances, (2) congruent multimodal (i.e.,
    semantically matching speech and gesture) or (3) incongruent multimodal (i.e.,
    semantically non-matching speech and gesture) utterances. Our findings reveal
    that the robot is evaluated more positively when non-verbal behaviors such as
    hand and arm gestures are displayed along with speech, even if they do not semantically
    match the spoken utterance.
author:
- first_name: Maha
  full_name: Salem, Maha
  last_name: Salem
- first_name: Stefan
  full_name: Kopp, Stefan
  last_name: Kopp
- first_name: Ipke
  full_name: Wachsmuth, Ipke
  last_name: Wachsmuth
- first_name: Katharina
  full_name: Rohlfing, Katharina
  id: '50352'
  last_name: Rohlfing
- first_name: Frank
  full_name: Joublin, Frank
  last_name: Joublin
citation:
  ama: Salem M, Kopp S, Wachsmuth I, Rohlfing K, Joublin F. Generation and evaluation
    of communicative robot gesture. <i>International Journal of Social Robotics, Special
    Issue on Expectations, Intentions, and Actions</i>. 2012;4(2):201-217. doi:<a
    href="https://doi.org/10.1007/s12369-011-0124-9">10.1007/s12369-011-0124-9</a>
  apa: Salem, M., Kopp, S., Wachsmuth, I., Rohlfing, K., &#38; Joublin, F. (2012).
    Generation and evaluation of communicative robot gesture. <i>International Journal
    of Social Robotics, Special Issue on Expectations, Intentions, and Actions</i>,
    <i>4</i>(2), 201–217. <a href="https://doi.org/10.1007/s12369-011-0124-9">https://doi.org/10.1007/s12369-011-0124-9</a>
  bibtex: '@article{Salem_Kopp_Wachsmuth_Rohlfing_Joublin_2012, title={Generation
    and evaluation of communicative robot gesture}, volume={4}, DOI={<a href="https://doi.org/10.1007/s12369-011-0124-9">10.1007/s12369-011-0124-9</a>},
    number={2}, journal={International Journal of Social Robotics, Special Issue on
    Expectations, Intentions, and Actions}, publisher={Springer Science + Business
    Media}, author={Salem, Maha and Kopp, Stefan and Wachsmuth, Ipke and Rohlfing,
    Katharina and Joublin, Frank}, year={2012}, pages={201–217} }'
  chicago: 'Salem, Maha, Stefan Kopp, Ipke Wachsmuth, Katharina Rohlfing, and Frank
    Joublin. “Generation and Evaluation of Communicative Robot Gesture.” <i>International
    Journal of Social Robotics, Special Issue on Expectations, Intentions, and Actions</i>
    4, no. 2 (2012): 201–17. <a href="https://doi.org/10.1007/s12369-011-0124-9">https://doi.org/10.1007/s12369-011-0124-9</a>.'
  ieee: 'M. Salem, S. Kopp, I. Wachsmuth, K. Rohlfing, and F. Joublin, “Generation
    and evaluation of communicative robot gesture,” <i>International Journal of Social
    Robotics, Special Issue on Expectations, Intentions, and Actions</i>, vol. 4,
    no. 2, pp. 201–217, 2012, doi: <a href="https://doi.org/10.1007/s12369-011-0124-9">10.1007/s12369-011-0124-9</a>.'
  mla: Salem, Maha, et al. “Generation and Evaluation of Communicative Robot Gesture.”
    <i>International Journal of Social Robotics, Special Issue on Expectations, Intentions,
    and Actions</i>, vol. 4, no. 2, Springer Science + Business Media, 2012, pp. 201–17,
    doi:<a href="https://doi.org/10.1007/s12369-011-0124-9">10.1007/s12369-011-0124-9</a>.
  short: M. Salem, S. Kopp, I. Wachsmuth, K. Rohlfing, F. Joublin, International Journal
    of Social Robotics, Special Issue on Expectations, Intentions, and Actions 4 (2012)
    201–217.
date_created: 2020-07-28T11:44:02Z
date_updated: 2023-02-01T12:52:23Z
department:
- _id: '749'
doi: 10.1007/s12369-011-0124-9
intvolume: '         4'
issue: '2'
keyword:
- Social Human-Robot Interaction
- Multimodal Interaction and Conversational Skills
- Robot Companions and Social Robots
- Non-verbal Cues and Expressiveness
language:
- iso: eng
page: 201-217
publication: International Journal of Social Robotics, Special Issue on Expectations,
  Intentions, and Actions
publication_identifier:
  issn:
  - 1875-4805
publisher: Springer Science + Business Media
status: public
title: Generation and evaluation of communicative robot gesture
type: journal_article
user_id: '14931'
volume: 4
year: '2012'
...
---
_id: '17430'
abstract:
- lang: eng
  text: 'Previous work has shown that gestural behaviors affect anthropomorphic inferences
    about artificial communicators such as virtual agents. In an experiment with a
    humanoid robot, we investigated to what extent gesture would affect anthropomorphic
    inferences about the robot. Particularly, we examined the effects of the robot''s
    hand and arm gestures on the attribution of typically human traits, likability
    of the robot, shared reality, and future contact intentions after interacting
    with the robot. For this, we manipulated the non-verbal behaviors of the humanoid
    robot in three experimental conditions: (1) no gesture, (2) congruent gesture,
    and (3) incongruent gesture. We hypothesized higher ratings on all dependent measures
    in the two gesture (vs. no gesture) conditions. The results confirm our predictions:
    when the robot used gestures during interaction, it was anthropomorphized more,
    participants perceived it as more likable, reported greater shared reality with
    it, and showed increased future contact intentions than when the robot gave instructions
    without using gestures. Surprisingly, this effect was particularly pronounced
    when the robot''s gestures were partly incongruent with speech. These findings
    show that communicative non-verbal behaviors in robotic systems affect both anthropomorphic
    perceptions and the mental models humans form of a humanoid robot during interaction.'
author:
- first_name: Maha
  full_name: Salem, Maha
  last_name: Salem
- first_name: Friederike Anne
  full_name: Eyssel, Friederike Anne
  last_name: Eyssel
- first_name: Katharina
  full_name: Rohlfing, Katharina
  id: '50352'
  last_name: Rohlfing
- first_name: Stefan
  full_name: Kopp, Stefan
  last_name: Kopp
- first_name: F.
  full_name: Joublin, F.
  last_name: Joublin
citation:
  ama: 'Salem M, Eyssel FA, Rohlfing K, Kopp S, Joublin F. Effects of gesture on the
    perception of psychological anthropomorphism: A case study with a humanoid robot.
    In: Mutlu B, Bartneck C, Ham J, Evers V, Kanda T, eds. <i>Social Robotics</i>.
    Vol 7072. Springer Science + Business Media; 2011:31-41. doi:<a href="https://doi.org/10.1007/978-3-642-25504-5_4">10.1007/978-3-642-25504-5_4</a>'
  apa: 'Salem, M., Eyssel, F. A., Rohlfing, K., Kopp, S., &#38; Joublin, F. (2011).
    Effects of gesture on the perception of psychological anthropomorphism: A case
    study with a humanoid robot. In B. Mutlu, C. Bartneck, J. Ham, V. Evers, &#38;
    T. Kanda (Eds.), <i>Social Robotics</i> (Vol. 7072, pp. 31–41). Springer Science
    + Business Media. <a href="https://doi.org/10.1007/978-3-642-25504-5_4">https://doi.org/10.1007/978-3-642-25504-5_4</a>'
  bibtex: '@inproceedings{Salem_Eyssel_Rohlfing_Kopp_Joublin_2011, title={Effects
    of gesture on the perception of psychological anthropomorphism: A case study with
    a humanoid robot}, volume={7072}, DOI={<a href="https://doi.org/10.1007/978-3-642-25504-5_4">10.1007/978-3-642-25504-5_4</a>},
    booktitle={Social Robotics}, publisher={Springer Science + Business Media}, author={Salem,
    Maha and Eyssel, Friederike Anne and Rohlfing, Katharina and Kopp, Stefan and
    Joublin, F.}, editor={Mutlu, B. and Bartneck, C. and Ham, J. and Evers, V. and
    Kanda, T.}, year={2011}, pages={31–41} }'
  chicago: 'Salem, Maha, Friederike Anne Eyssel, Katharina Rohlfing, Stefan Kopp,
    and F. Joublin. “Effects of Gesture on the Perception of Psychological Anthropomorphism:
    A Case Study with a Humanoid Robot.” In <i>Social Robotics</i>, edited by B. Mutlu,
    C. Bartneck, J. Ham, V. Evers, and T. Kanda, 7072:31–41. Springer Science + Business
    Media, 2011. <a href="https://doi.org/10.1007/978-3-642-25504-5_4">https://doi.org/10.1007/978-3-642-25504-5_4</a>.'
  ieee: 'M. Salem, F. A. Eyssel, K. Rohlfing, S. Kopp, and F. Joublin, “Effects of
    gesture on the perception of psychological anthropomorphism: A case study with
    a humanoid robot,” in <i>Social Robotics</i>, 2011, vol. 7072, pp. 31–41, doi:
    <a href="https://doi.org/10.1007/978-3-642-25504-5_4">10.1007/978-3-642-25504-5_4</a>.'
  mla: 'Salem, Maha, et al. “Effects of Gesture on the Perception of Psychological
    Anthropomorphism: A Case Study with a Humanoid Robot.” <i>Social Robotics</i>,
    edited by B. Mutlu et al., vol. 7072, Springer Science + Business Media, 2011,
    pp. 31–41, doi:<a href="https://doi.org/10.1007/978-3-642-25504-5_4">10.1007/978-3-642-25504-5_4</a>.'
  short: 'M. Salem, F.A. Eyssel, K. Rohlfing, S. Kopp, F. Joublin, in: B. Mutlu, C.
    Bartneck, J. Ham, V. Evers, T. Kanda (Eds.), Social Robotics, Springer Science
    + Business Media, 2011, pp. 31–41.'
date_created: 2020-07-28T11:44:04Z
date_updated: 2023-02-01T12:52:02Z
department:
- _id: '749'
doi: 10.1007/978-3-642-25504-5_4
editor:
- first_name: B.
  full_name: Mutlu, B.
  last_name: Mutlu
- first_name: C.
  full_name: Bartneck, C.
  last_name: Bartneck
- first_name: J.
  full_name: Ham, J.
  last_name: Ham
- first_name: V.
  full_name: Evers, V.
  last_name: Evers
- first_name: T.
  full_name: Kanda, T.
  last_name: Kanda
intvolume: '      7072'
keyword:
- Multimodal Interaction and Conversational Skills
- Anthropomorphism
- Non-verbal Cues and Expressiveness
language:
- iso: eng
page: 31-41
publication: Social Robotics
publication_identifier:
  isbn:
  - 978-3-642-25503-8
publisher: Springer Science + Business Media
status: public
title: 'Effects of gesture on the perception of psychological anthropomorphism: A
  case study with a humanoid robot'
type: conference
user_id: '14931'
volume: 7072
year: '2011'
...
---
_id: '17242'
abstract:
- lang: eng
  text: 'Previous work has shown that gestural behaviors affect anthropomorphic inferences
    about artificial communicators such as virtual agents. In an experiment with a
    humanoid robot, we investigated to what extent gesture would affect anthropomorphic
    inferences about the robot. Particularly, we examined the effects of the robot''s
    hand and arm gestures on the attribution of typically human traits, likability
    of the robot, shared reality, and future contact intentions after interacting
    with the robot. For this, we manipulated the non-verbal behaviors of the humanoid
    robot in three experimental conditions: (1) no gesture, (2) congruent gesture,
    and (3) incongruent gesture. We hypothesized higher ratings on all dependent measures
    in the two gesture (vs. no gesture) conditions. The results confirm our predictions:
    when the robot used gestures during interaction, it was anthropomorphized more,
    participants perceived it as more likable, reported greater shared reality with
    it, and showed increased future contact intentions than when the robot gave instructions
    without using gestures. Surprisingly, this effect was particularly pronounced
    when the robot''s gestures were partly incongruent with speech. These findings
    show that communicative non-verbal behaviors in robotic systems affect both anthropomorphic
    perceptions and the mental models humans form of a humanoid robot during interaction.'
author:
- first_name: Maha
  full_name: Salem, Maha
  last_name: Salem
- first_name: Friederike Anne
  full_name: Eyssel, Friederike Anne
  last_name: Eyssel
- first_name: Katharina
  full_name: Rohlfing, Katharina
  id: '50352'
  last_name: Rohlfing
- first_name: Stefan
  full_name: Kopp, Stefan
  last_name: Kopp
- first_name: F.
  full_name: Joublin, F.
  last_name: Joublin
citation:
  ama: 'Salem M, Eyssel FA, Rohlfing K, Kopp S, Joublin F. Effects of gesture on the
    perception of psychological anthropomorphism: A case study with a humanoid robot.
    In: Mutlu B, Bartneck C, Ham J, Evers V, Kanda T, eds. <i>Social Robotics</i>.
    Vol 7072. Springer Science + Business Media; 2011:31-41. doi:<a href="https://doi.org/10.1007/978-3-642-25504-5_4">10.1007/978-3-642-25504-5_4</a>'
  apa: 'Salem, M., Eyssel, F. A., Rohlfing, K., Kopp, S., &#38; Joublin, F. (2011).
    Effects of gesture on the perception of psychological anthropomorphism: A case
    study with a humanoid robot. In B. Mutlu, C. Bartneck, J. Ham, V. Evers, &#38;
    T. Kanda (Eds.), <i>Social Robotics</i> (Vol. 7072, pp. 31–41). Springer Science
    + Business Media. <a href="https://doi.org/10.1007/978-3-642-25504-5_4">https://doi.org/10.1007/978-3-642-25504-5_4</a>'
  bibtex: '@inproceedings{Salem_Eyssel_Rohlfing_Kopp_Joublin_2011, title={Effects
    of gesture on the perception of psychological anthropomorphism: A case study with
    a humanoid robot}, volume={7072}, DOI={<a href="https://doi.org/10.1007/978-3-642-25504-5_4">10.1007/978-3-642-25504-5_4</a>},
    booktitle={Social Robotics}, publisher={Springer Science + Business Media}, author={Salem,
    Maha and Eyssel, Friederike Anne and Rohlfing, Katharina and Kopp, Stefan and
    Joublin, F.}, editor={Mutlu, B. and Bartneck, C. and Ham, J. and Evers, V. and
    Kanda, T.}, year={2011}, pages={31–41} }'
  chicago: 'Salem, Maha, Friederike Anne Eyssel, Katharina Rohlfing, Stefan Kopp,
    and F. Joublin. “Effects of Gesture on the Perception of Psychological Anthropomorphism:
    A Case Study with a Humanoid Robot.” In <i>Social Robotics</i>, edited by B. Mutlu,
    C. Bartneck, J. Ham, V. Evers, and T. Kanda, 7072:31–41. Springer Science + Business
    Media, 2011. <a href="https://doi.org/10.1007/978-3-642-25504-5_4">https://doi.org/10.1007/978-3-642-25504-5_4</a>.'
  ieee: 'M. Salem, F. A. Eyssel, K. Rohlfing, S. Kopp, and F. Joublin, “Effects of
    gesture on the perception of psychological anthropomorphism: A case study with
    a humanoid robot,” in <i>Social Robotics</i>, 2011, vol. 7072, pp. 31–41, doi:
    <a href="https://doi.org/10.1007/978-3-642-25504-5_4">10.1007/978-3-642-25504-5_4</a>.'
  mla: 'Salem, Maha, et al. “Effects of Gesture on the Perception of Psychological
    Anthropomorphism: A Case Study with a Humanoid Robot.” <i>Social Robotics</i>,
    edited by B. Mutlu et al., vol. 7072, Springer Science + Business Media, 2011,
    pp. 31–41, doi:<a href="https://doi.org/10.1007/978-3-642-25504-5_4">10.1007/978-3-642-25504-5_4</a>.'
  short: 'M. Salem, F.A. Eyssel, K. Rohlfing, S. Kopp, F. Joublin, in: B. Mutlu, C.
    Bartneck, J. Ham, V. Evers, T. Kanda (Eds.), Social Robotics, Springer Science
    + Business Media, 2011, pp. 31–41.'
date_created: 2020-06-24T13:02:07Z
date_updated: 2023-02-01T12:58:57Z
department:
- _id: '749'
doi: 10.1007/978-3-642-25504-5_4
editor:
- first_name: B.
  full_name: Mutlu, B.
  last_name: Mutlu
- first_name: C.
  full_name: Bartneck, C.
  last_name: Bartneck
- first_name: J.
  full_name: Ham, J.
  last_name: Ham
- first_name: V.
  full_name: Evers, V.
  last_name: Evers
- first_name: T.
  full_name: Kanda, T.
  last_name: Kanda
intvolume: '      7072'
keyword:
- Multimodal Interaction and Conversational Skills
- Anthropomorphism
- Non-verbal Cues and Expressiveness
language:
- iso: eng
page: 31-41
publication: Social Robotics
publication_identifier:
  isbn:
  - 978-3-642-25503-8
publisher: Springer Science + Business Media
status: public
title: 'Effects of gesture on the perception of psychological anthropomorphism: A
  case study with a humanoid robot'
type: conference
user_id: '14931'
volume: 7072
year: '2011'
...