Interaction of robot with humans by communicating simulated emotional states through expressive movements

This paper presents a non-verbal and non-facial method for effective communication of a “mechanoid robot” by conveying the emotions through gestures. This research focuses on human–robot interaction using a mechanoid robot that does not possess any anthropomorphic facial features for conveying gestures. Another feature of this research is the use of human-like smooth motion of this mechanoid robot in contrast to the traditional trapezoidal velocity profile for its communication. For conveying gestures, the connection between motion of robot and perceived emotions is established by varying the velocity and acceleration of the mechanoid structure. The selected motion parameters are changed systematically to observe the variation in perceived emotions. The perceived emotions have been further investigated using three different emotional behavior models: Russell’s circumplex model of affect, Tellegen–Watson–Clark model and PAD model. Results obtained show that the designated motion parameters are linked with the change of emotions. Moreover, the emotions perceived by the user are same through all three models, validating the reliability of all the three emotional scale models and also of the emotions perceived by the user.