Abstract
This paper reports subtle reactions and response time effects in human-robot touch interaction with an android named ERICA whose has a human-like appearance. People usually prefer a quick response from interaction targets, regardless whether the targets are computer systems or robots. One famous guideline to design response timing is called the “two second rule,” which argues that a system should not take more than two seconds to respond to input. To investigate whether such a response time design is applicable to human-robot touch interactions, we investigated several response times when a robot is touched by people. We also implemented subtle reactions for a robot to being touched and investigated whether they increased the robot’s human-likeness. Our experimental results with 12 participants showed that the robot’s perceived human-likeness increased because it showed a subtle reaction to being touched. The results also showed that people would prefer quick responses to their touch interactions. In this study, zero seconds showed significantly higher preference than two seconds, but one second did not show significant differences with two seconds.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Goodman, T., Spence, R.: The effect of system response time on interactive computer aided problem solving. ACM SIGGRAPH Comput. Graph. 12(3), 100–104 (1978)
Guynes, J.L.: Impact of system response time on state anxiety. Commun. ACM 31(3), 342–347 (1988)
Miller, R.B.: Response time in man-computer conversational transactions. In: Proceedings of the December 9–11, 1968, Fall Joint Computer Conference, Part I, pp. 267–277 (1968)
Shiwa, T., Kanda, T., Imai, M., Ishiguro, H., Hagita, N.: How Quickly should a communication robot respond? delaying strategies and habituation effects. Int. J. Soc. Robot. 1(2), 141–155 (2009)
Wada, K., Asano, Y.: Investigation of appropriate response time for an animal type robot. In: 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pp. 331–334 (2016)
Funakoshi, K., Kobayashi, K., Nakano, M., Yamada, S., Kitamura, Y., Tsujino, H.: Smoothing human-robot speech interactions by using a blinking-light as subtle expression. In: Proceedings of the 10th International Conference on Multimodal Interfaces, pp. 293–296 (2008)
Mathur, M.B., Reichling, D.B.: Navigating a social world with robot partners: a quantitative cartography of the Uncanny Valley. Cognition 146, 22–32 (2016)
Shiomi, M., Nakagawa, K., Hagita, N.: Design of a gaze behavior at a small mistake moment for a robot. Interact. Stud. 14(3), 317–328 (2013)
Gharbi, M., Paubel, P.V., Clodic, A., Carreras, O., Alami, R., Cellier, J.M.: Toward a better understanding of the communication cues involved in a human-robot object transfer. In: 2015 24th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pp. 319–324 (2015)
Glas, D.F., Minato, T., Ishi, C.T., Kawahara, T., Ishiguro, H.: Erica: the erato intelligent conversational android. In: 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pp. 22–29 (2016)
van Erp, J.B.F., Toet, A.: Social Touch in Human–Computer Interaction. Front. Dig. Humanit. 2(2), 1–15 (2015). doi:10.3389/fdigh.2015.00002
Chen, T.L., King, C.-H.A., Thomaz, A.L., Kemp, C.C.: An investigation of responses to robot-initiated touch in a nursing context. Int. J. Soc. Robot. 6(1), 141–161 (2013)
Shiomi, M., Nakagawa, K., Shinozawa, K., Matsumura, R., Ishiguro, H., Hagita, N.: Does a robot’s touch encourage human effort? Int. J. Soc. Robot. 9, 5–15 (2016)
Shiomi, M., Nakata, A., Kanbara, M., Hagita, N.: A hug from a robot encourages prosocial behavior. In: 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) (2017, to appear)
Hirano, T., Shiomi, M., Iio, T., Kimoto, M., Nagashio, T., Tanev, I., Shimohara, K., Hagita, N.: Communication cues in a human-robot touch interaction. In: Proceedings of the Fourth International Conference on Human Agent Interaction, Biopolis, Singapore, pp. 201–206 (2016)
Stier, D.S., Hall, J.A.: Gender differences in touch: An empirical and theoretical review. J. Pers. Soc. Psychol. 47(2), 440 (1984)
Ebesu Hubbard, A.S., Tsuji, A.A., Williams, C., Seatriz, V.: Effects of touch on gratuities received in same-gender and cross-gender dyads. J. Appl. Soc. Psychol. 33(11), 2427–2438 (2003)
Acknowledgements
This research work was supported by JST ERATO Ishiguro Symbiotic Human Robot Interaction Project (Grant Number: JPMJER1401), and JSPS KAKENHI Grant Number JP15H05322 and JP16K12505.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Shiomi, M., Minato, T., Ishiguro, H. (2017). Subtle Reaction and Response Time Effects in Human-Robot Touch Interaction. In: Kheddar, A., et al. Social Robotics. ICSR 2017. Lecture Notes in Computer Science(), vol 10652. Springer, Cham. https://doi.org/10.1007/978-3-319-70022-9_24
Download citation
DOI: https://doi.org/10.1007/978-3-319-70022-9_24
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-70021-2
Online ISBN: 978-3-319-70022-9
eBook Packages: Computer ScienceComputer Science (R0)