Skip to main content
Springer Nature Link
Log in

A Study of Human Proxemics on Social Robot Light Effects

  • Conference paper
  • First Online:
Human-Computer Interaction (HCII 2024)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 14685))

Included in the following conference series:

  • 588 Accesses

Abstract

The social interaction capability of social robots is crucial for user experience; therefore, social robots should be kept at an appropriate distance to enhance user comfort. User experience depends on various attributes of the robot, such as emotional state, noise level, and physical appearance. Therefore, it is crucial to better understand the robot attributes that affect human-robot proximity behavior. The purpose of this paper is to analyze the effect of robot light effects on the preference of human-robot proximity behavior including light effect position, light effect color, and light effect flashing mode. Analysis of the experimental data shows that the position and color of the robot light effect have a significant effect on the preference of human-robot proximity behavior. This result will help to design and develop light effects and human-robot proximity strategies for social robots to enhance social interaction.

X. Sun—This research was financially supported by MOE (Ministry of Education in China) Youth Project of Humanities and Social Sciences Fund, 2022. “Promote the multi-modal interaction and service system design research of social intelligence of elderly care robots” (No. 22YJCZH156).

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Hall, E.T., Hall, E.T.: The hidden dimension. Anchor 609 (1966)

    Google Scholar 

  2. Argyle, M.: Bodily Communication. Routledge (2013)

    Google Scholar 

  3. Argyle, M., Dean, J.: Eye-contact, distance and affiliation. Sociometry, 289–304 (1965)

    Google Scholar 

  4. Dosey, M.A., Meisels, M.: Personal space and self-protection. J. Pers. Soc. Psychol. 11(2), 93 (1969)

    Article  Google Scholar 

  5. Reeves, B., Nass, C.: How people treat computers, television, and new media like real people and places (1996)

    Google Scholar 

  6. Nass, C., Steuer, J., Tauber, E.R.: Computers are social actors. In: Proceedings of the SIGCHI Conference on Human Factors in Computing Systems, pp. 72–78 (1994)

    Google Scholar 

  7. Mumm, J., Mutlu, B.: Human-robot proxemics: physical and psychological distancing in human-robot interaction. In: Proceedings of the 6th International Conference on Human-Robot Interaction, pp. 331–338 (2011)

    Google Scholar 

  8. Sardar, A., Joosse, M., Weiss, A., Evers, V.: Don’t stand so close to me: users’ attitudinal and behavioral responses to personal space invasion by robots. In: Proceedings of the Seventh Annual ACM/IEEE International Conference on Human-Robot Interaction, p. 229 230 (2012)

    Google Scholar 

  9. Walters, M.L., Syrdal, D.S., Koay, K.L., Dautenhahn, K., Te Boekhorst, R.: Human approach distances to a mechanical-looking robot with different robot voice styles. In: Proceedings of the RO-MAN 2008-The 17th IEEE International Symposium on Robot and Human Interactive Communication, pp. 707–712. IEEE (2008)

    Google Scholar 

  10. Syrdal, D.S., Dautenhahn, K., Walters, M.L., Koay, K.L.: Sharing spaces with robots in a home scenario-anthropomorphic attributions and their effect on proxemic expectations and evaluations in a live HRI trial. In: Proceedings of the AAAI Fall Symposium: AI in Eldercare: New Solutions to Old Problems, pp. 116–123 (2008)

    Google Scholar 

  11. Butler, J.T., Agah, A.: Psychological effects of behavior patterns of a mobile personal robot. Auton. Robot. 10(2), 185–202 (2001)

    Article  Google Scholar 

  12. Walters, M.L.: The design space for robot appearance and behavior for social robot companions. Ph.D. dissertation, University of Hertfordshire (2008)

    Google Scholar 

  13. Tokmurzina, D., Sagitzhan, N., Nurgaliyev, A., Sandygulova, A.: Exploring child-robot proxemics. In: Proceedings of the Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, pp. 257–258 (2018)

    Google Scholar 

  14. Syrdal, D.S., Dautenhahn, K., Woods, S., Walters, M.L., Koay, K.L.: ‘Doing the right thing wrong’-personality and tolerance to uncomfortable robot approaches. In: Proceedings of the ROMAN 2006-The 15th IEEE International Symposium on Robot and Human Interactive Communication, pp. 183–188. IEEE (2006)

    Google Scholar 

  15. Walters, M.L.: The influence of subjects’ personality traits on personal spatial zones in a human-robot interaction experiment. In: Proceedings of the ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, pp. 347–352. IEEE (2005)

    Google Scholar 

  16. Syrdal, D.S., Koay, K.L., Walters, M.L., Dautenhahn, K.: A personalized robot companion? The role of individual differences on spatial preferences in HRI scenarios. In: Proceedings of the RO-MAN 2007-The 16th IEEE International Symposium on Robot and Human Interactive Communication, pp. 1143–1148. IEEE (2007)

    Google Scholar 

  17. Hall, E.T.: The Hidden Dimension. Doubleday & Company Inc., Garden City, NY, USA (1966)

    Google Scholar 

  18. Bocardus, E.: Social distance and its origins. J. Appl. Sociol. 9 (1925)

    Google Scholar 

  19. Kaplan, K.J., Firestone, I.J., Klein, K.W., Sodikoff, C.: Distancing in dyads: a comparison of four models. Soc. Psychol. Q., 108–115 (1983)

    Google Scholar 

  20. Breazeal, C.: Social interactions in HRI: the robot view. IEEE Trans. Syst. Man Cybern. Part C (Appl. Rev.) 34(2), 181–186 (2004)

    Google Scholar 

  21. Bethel, L., Murphy, R.R.: Survey of non-facial/non-verbal affective expressions for appearance-constrained robots. IEEE Trans. Syst. Man Cybern. Part C (Appl. Rev.) 38(1), 83–92 (2008)

    Google Scholar 

  22. Moshkina, L., Arkin, R.C.: Human perspective on affective robotic behavior: a longitudinal study. In: 2005 IEEE/RSJ International Conference Intelligent Robots and Systems, pp. 1444–1451. IEEE (2005)

    Google Scholar 

  23. Hall, E.T.: The Hidden Dimension: Man’s Use of Space in Public and Private. The Bodley Head Ltd., London (1966)

    Google Scholar 

  24. Bar-Haim, Y., Aviezer, O., Berson, Y., Sagi, A.: Attachment in infancy and personal space regulation in early adolescence. Attach. Hum. Dev. 4(1), 68–83 (2002)

    Article  Google Scholar 

  25. Dubois, M., Claret, J.-A., Basañez, L., Venture, G.: Influence of emotional motions in human-robot interactions. In: Kulić, D., Nakamura, Y., Khatib, O., Venture, G. (eds.) 2016 International Symposium on Experimental Robotics. SPAR, vol. 1, pp. 799–808. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-50115-4_69

    Chapter  Google Scholar 

  26. Howarth, E.: Expectations concerning occupations in relation to extraversion-introversion. Psychol. Rep. 24(2), 415–418 (1969). pMID: 5809034

    Google Scholar 

  27. Neff, M., Wang, Y., Abbott, R., Walker, M.: Evaluating the effect of gesture and language on personality perception in conversational agents. In: Allbeck, J., Badler, N., Bickmore, T., Pelachaud, C., Safonova, A. (eds.) Intelligent Virtual Agents. LNCS (LNAI), vol. 6356, pp. 222–235. Springer, Heidelberg (2010). https://doi.org/10.1007/978-3-642-15892-6_24

    Chapter  Google Scholar 

  28. Lim, M.Y.: We are all individuals: the role of robot personality and human traits in trustworthy interaction. In: Proceedings of the 2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), pp. 538–545. IEEE (2022)

    Google Scholar 

  29. Samarakoon, S.M.B.P., Sirithunge, H.P.C., Muthugala, M.A.V.J., Jayasekara, A.G.B.P.: Proxemics and approach evaluation by service robot based on user behavior in domestic environment. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 8192–8199. IEEE (2018)

    Google Scholar 

  30. Moore, D., Ju, W.: Sound as implicit influence on human-robot interactions. In: Companion of the 2018 ACM/IEEE International Conference Human Robot Interaction, pp. 311–312. ACM (2018)

    Google Scholar 

  31. Sauppe, A., Mutlu, B.: The social impact of a robot co-worker in -industrial settings. In: Proceedings 33rd Annual ACM Conference on Human Factors in Computing Systems, pp. 3613–3622. ACM (2015)

    Google Scholar 

  32. Trovato, R., et al.: The sound or silence: investigating the influence of robot noise on proxemics. In: 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pp. 713–718. IEEE (2018)

    Google Scholar 

  33. Syrdal, D.S., Dautenhahn, K., Walters, M.L., Koay, K.L.: Sharing spaces with robots in a home scenario-anthropomorphic attributions and their effect on proxemic expectations and evaluations in a live HRI trial. In: AAAI Fall Symposium: AI in Eldercare: New Solutions to Old AI in Eldercare: New Solutions to Old Problems, pp. 116–123 (2008)

    Google Scholar 

  34. Walters, M., et al.: Close encounters: spatial distances between people and a robot of mechanistic appearance. In: Proceedings Humanoids (2005)

    Google Scholar 

  35. Mumm, J., Mutlu, B.: Human-robot proxemics: physical and psychological distancing in human-robot interaction. In: Proceedings HRI (2011)

    Google Scholar 

  36. Robins, B., Dautenhahn, K., Nehaniv, C., Mirza, N., Francois, D., Olsson, L.: Sustaining interaction dynamics and engagement in dyadic child-robot interaction kinesics: lessons learnt from an exploratory study. In: Proceedings RO-MAN (2005)

    Google Scholar 

  37. Kanda, T., Hirano, T., Eaton, D., Ishiguro, H.: Interactive robots as social partners and peer tutors for children: a field trial. Hum. Comput. Interact. 19(1), 61–84 (2004)

    Google Scholar 

Download references

Acknowledgements

This research was financially supported by MOE (Ministry of Education in China) Youth Project of Humanities and Social Sciences Fund, 2022. “Promote the multi-modal interaction and service system design research of social intelligence of elderly care robots” (No. 22YJCZH156).

Author information

Authors and Affiliations

  1. Nanjing University of Science and Technology, Nanjing, 210000, China

    Yajuan Su & Xinxin Sun

Authors
  1. Yajuan Su
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Xinxin Sun
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Yajuan Su .

Editor information

Editors and Affiliations

  1. The Open University of Japan, Chiba, Japan

    Masaaki Kurosu

  2. Hosei University, Tokyo, Japan

    Ayako Hashizume

Rights and permissions

Reprints and permissions

Copyright information

© 2024 The Author(s), under exclusive license to Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Su, Y., Sun, X. (2024). A Study of Human Proxemics on Social Robot Light Effects. In: Kurosu, M., Hashizume, A. (eds) Human-Computer Interaction. HCII 2024. Lecture Notes in Computer Science, vol 14685. Springer, Cham. https://doi.org/10.1007/978-3-031-60412-6_16

Download citation

  • DOI: https://doi.org/10.1007/978-3-031-60412-6_16

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-60411-9

  • Online ISBN: 978-3-031-60412-6

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics