Expressing a robot's confidence with motion-based artificial subtle expressions

Abstract

In this paper, motion-based Artificial Subtle Expression (ASE) as a novel implementation of ASE is described, in which a robot expresses confidence in its advice to a human. Confidence in advice is one of robot's useful internal states, and it is an important goal to develop a practical and inexpensive methodology to correctly express it. To achieve this goal, we propose motion-based ASE in which a robot slowly hesitates by turning to a human before giving advice with low confidence. We conducted experiments to evaluate the effectiveness of motion-based ASE with participants, and obtained promising results.