机器人主动回应人类事件，能显著提升人类对其情感影响的感知。
On the causality between affective impact and coordinated human-robot reactions
- 让机器人在互动中主动响应人类，而非随机反应。
- 200ms反应延迟时，人类对机器人情感影响感知最强。
- 100ms延迟最能让人类感觉自身对机器人有影响力。
为提升机器人在社交场景中的表现，本文研究机器人主动与人类共享事件反应是否会影响人类对其情感影响的感知。实验设计两组测试：第一组（n=84）对比观察者对机器人有无共享反应的感知差异；第二组（n=110）逐步增加机器人反应延迟，每十人一档。结果显示，在共享事件中机器人主动反应时，人类对其情感影响的感知显著增强（p<.05）。对于物理互动场景，近似人类反应时间（约200ms）最为合适，而若希望人类感觉自身影响最大，则100ms反应时间效果最佳。
原文摘要 · Abstract (English)
In an effort to improve how robots function in social contexts, this paper investigates if a robot that actively shares a reaction to an event with a human alters how the human perceives the robot's affective impact. To verify this, we created two different test setups. One to highlight and isolate the reaction element of affective robot expressions, and one to investigate the effects of applying specific timing delays to a robot reacting to a physical encounter with a human. The first test was conducted with two different groups (n=84) of human observers, a test group and a control group both interacting with the robot. The second test was performed with 110 participants using increasingly longer reaction delays for the robot with every ten participants. The results show a statistically significant change (p$<$.05) in perceived affective impact for the robots when they react to an event shared with a human observer rather than reacting at random. The result also shows for shared physical interaction, the near-human reaction times from the robot are most appropriate for the scenario. The paper concludes that a delay time around 200ms may render the biggest impact on human observers for small-sized non-humanoid robots. It further concludes that a slightly shorter reaction time around 100ms is most effective when the goal is to make the human observers feel they made the biggest impact on the robot.
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