University of Hertfordshire

By the same authors

Evaluation of a Humanoid Robot’s Emotional Gestures for Transparent Interaction

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Original languageEnglish
Title of host publicationSocial Robotics
Subtitle of host publication13th International Conference, ICSR 2021, Singapore, Singapore, November 10–13, 2021, Proceedings
EditorsHaizhou Li, Shuzhi Sam Ge, Yan Wu, Agnieszka Wykowska, Hongsheng He, Xiaorui Liu, Dongyu Li, Jairo Perez-Osorio
Number of pages11
ISBN (Electronic)9783030905255
ISBN (Print)9783030905248
Publication statusPublished - 2 Nov 2021
Event13th International Conference on Social Robotics - , Singapore
Duration: 10 Nov 202113 Nov 2021

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume13086 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference13th International Conference on Social Robotics
Abbreviated titleICSR
Internet address


Effective and successful interactions between robots and people are possible only when they both are able to infer the other’s intentions, beliefs, and goals. In particular, robots’ mental models need to be transparent to be accepted by people and facilitate the collaborations between the involved parties. In this study, we focus on investigating how to create legible emotional robots’ behaviours to be used to make their decision-making process more transparent to people. In particular, we used emotions to express the robot’s internal status and feedback during an interactive learning process. We involved 28 participants in an online study where they rated the robot’s behaviours, designed in terms of colours, icons, movements and gestures, according to the perceived intention and emotions.


© Springer Nature Switzerland AG 2021. This is the accepted manuscript version of an article which has been published in final form at

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