Abstract
Eye contact is an important social cue in human-human interaction, but it is unclear how easily it carries over to humanoid robots. In this study we investigated whether the tolerance of making eye contact is similar for the Nao robot as compared to human lookers. We measured the region of eye contact (REC) in three conditions (sitting, standing and eye height). We found that the REC of the Nao robot is similar to that of human lookers. We also compared the centre of REC with the robot’s gaze direction when looking straight at the observer’s nose bridge. We found that the nose bridge lies slightly above the computed centre of the REC. This can be interpreted as an asymmetry in the downward direction of the REC. Taken together these results enable us to model eye contact and the tolerance for breaking eye contact with the Nao robot.
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
Preview
Unable to display preview. Download preview PDF.
References
Breazeal, C.: Toward sociable robots. Robotics and Autonomous Systems 42(3-4), 167–175 (2003), doi:10.1016/S0921-8890(02)00373-1
Gillesen, J.C.C., Barakova, E.I., Huskens, B.E.B.M., Feijs, L.M.G.: From training to robot behavior: Towards custom scenarios for robotics in training programs for ASD. In: 2011 IEEE International Conference on Rehabilitation Robotics (ICORR), pp. 1–7 (2011), doi:10.1109/ICORR.2011.5975381
Chen, M.: Leveraging the asymmetric sensitivity of eye contact for videoconference. In: Proceedings of the SIGCHI Conference on Human Factors in Computing Systems Changing Our World, Changing Ourselves - CHI 2002, p. 49. ACM Press, New York (2002), doi:10.1145/503376.503386
Cline, M.G.: The Perception of Where a Person Is Looking. The American Journal of Psychology 80(1), 41 (1967), doi:10.2307/1420539
Dautenhahn, K.: Socially intelligent robots: dimensions of human-robot interaction. Philosophical Transactions of the Royal Society of London. Series B, Biological Sciences 362(1480), 679–704 (2007)
Gamer, M., Hecht, H.: Are you looking at me? Measuring the cone of gaze. Journal of Experimental Psychology. Human Perception and Performance 33(3), 705–715 (2007)
Johnson, D.O., Cuijpers, R.H., Juola, J.F., Torta, E., Simonov, M., Frisiello, A., Bazzani, M., Yan, W., Weber, C., Wermter, S., Meins, N., Oberzaucher, J., Panek, P., Edelmayer, G., Mayer, P., Beck, C.: Socially Assistive Robots: A comprehensive approach to extending independent living. International Journal of Social Robotics (submitted)
Kleinke, C.: Gaze and eye contact: A research review. Psychological Bulletin 10, 78–100 (1986)
Mutlu, B., Hodgins, J., Forlizzi, J.: A storytelling robot: Modeling and evaluation of human-like gaze behavior (2006)
van der Pol, D.: The effect of slant on the perception of eye-contact. Master Thesis (2009)
van der Pol, D., Cuijpers, R.H., Juola, J.F.: Head pose estimation for a domestic robot. In: Proceedings of the 6th International Conference on Human-robot Interaction (HRI 2011), pp. 277–278. ACM, New York (2011), doi:10.1145/1957656.1957769
Robins, B., Dautenhahn, K., Dickerson, P.: From Isolation to Communication: A Case Study Evaluation of Robot Assisted Play for Children with Autism with a Minimally Expressive Humanoid Robot. In: Second International Conferences on Advances in Computer-Human Interactions, ACHI 2009, pp. 205–211 (2009), doi:10.1109/ACHI.2009.32
Sidner, C.L., Kidd, C., Lee, C., Lesh, N.: Where to look: a study of human-robot engagement. In: Proceedings of the 9th International Conference on Intelligent User Interfaces, pp. 78–84. ACM, New York (2004)
Tapus, A., Mataric, M., Scassellati, B.: The grand challenges in socially assistive robotics. Robotics and Automation Magazine, 1–7 (2007)
Torta, E., Oberzaucher, J., Werner, F., Cuijpers, R.H., Juola, J.F.: The attitude toward socially assistive robots in intelligent homes: results from laboratory studies and field trials. Journal of Human-Robot Interaction 1(2), 76–99 (2012), doi:10.5898/JHRI.1.2.Torta
Torta, E., van Heumen, J., Cuijpers, R.H., Juola, J.F.: How Can a Robot Attract the Attention of Its Human Partner? A Comparative Study over Different Modalities for Attracting Attention. In: Ge, S.S., Khatib, O., Cabibihan, J.-J., Simmons, R., Williams, M.-A. (eds.) ICSR 2012. LNCS, vol. 7621, pp. 288–297. Springer, Heidelberg (2012)
Viola, P., Jones, M.: Rapid Object Detection using a Boosted Cascade of Simple Features. In: Proc. IEEE CVPR 2001, vol. 01 (2001)
Wada, J., Shibata, T., Saito, T., Tanie, K.: Analysis of factors that bring mental effects to elderly people in robot assisted activity. In: Proceedings of the 2002 IEEE/RSJ Conference on Intelligent Robots and Systems, Lausanne, Switzerland, pp. 1152–1157 (2002)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Cuijpers, R.H., van der Pol, D. (2013). Region of Eye Contact of Humanoid Nao Robot Is Similar to That of a Human. In: Herrmann, G., Pearson, M.J., Lenz, A., Bremner, P., Spiers, A., Leonards, U. (eds) Social Robotics. ICSR 2013. Lecture Notes in Computer Science(), vol 8239. Springer, Cham. https://doi.org/10.1007/978-3-319-02675-6_28
Download citation
DOI: https://doi.org/10.1007/978-3-319-02675-6_28
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-02674-9
Online ISBN: 978-3-319-02675-6
eBook Packages: Computer ScienceComputer Science (R0)