The Social Life of Industrial Arms: How Arousal and Attention Shape Human-Robot Interaction
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866918122366173184 |
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| author | El-Helou, Roy Pan, Matthew K. X. J |
| author_facet | El-Helou, Roy Pan, Matthew K. X. J |
| contents | This study explores how human perceptions of a non-anthropomorphic robotic manipulator are shaped by two key dimensions of behaviour: arousal, defined as the robot's movement energy and expressiveness, and attention, defined as the robot's capacity to selectively orient toward and engage with a user. We introduce a novel control architecture that integrates a gaze-like attention engine with an arousal-modulated motion system to generate socially meaningful behaviours. In a user study, we find that robots exhibiting high attention -- actively directing their focus toward users -- are perceived as warmer and more competent, intentional, and lifelike. In contrast, high arousal -- characterized by fast, expansive, and energetic motions -- increases perceptions of discomfort and disturbance. Importantly, a combination of focused attention and moderate arousal yields the highest ratings of trust and sociability, while excessive arousal diminishes social engagement. These findings offer design insights for endowing non-humanoid robots with expressive, intuitive behaviours that support more natural human-robot interaction. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_01260 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | The Social Life of Industrial Arms: How Arousal and Attention Shape Human-Robot Interaction El-Helou, Roy Pan, Matthew K. X. J Robotics Human-Computer Interaction Systems and Control This study explores how human perceptions of a non-anthropomorphic robotic manipulator are shaped by two key dimensions of behaviour: arousal, defined as the robot's movement energy and expressiveness, and attention, defined as the robot's capacity to selectively orient toward and engage with a user. We introduce a novel control architecture that integrates a gaze-like attention engine with an arousal-modulated motion system to generate socially meaningful behaviours. In a user study, we find that robots exhibiting high attention -- actively directing their focus toward users -- are perceived as warmer and more competent, intentional, and lifelike. In contrast, high arousal -- characterized by fast, expansive, and energetic motions -- increases perceptions of discomfort and disturbance. Importantly, a combination of focused attention and moderate arousal yields the highest ratings of trust and sociability, while excessive arousal diminishes social engagement. These findings offer design insights for endowing non-humanoid robots with expressive, intuitive behaviours that support more natural human-robot interaction. |
| title | The Social Life of Industrial Arms: How Arousal and Attention Shape Human-Robot Interaction |
| topic | Robotics Human-Computer Interaction Systems and Control |
| url | https://arxiv.org/abs/2504.01260 |