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Telang, S., Marques, M., Latupeirissa, A. B. & Bresin, R. (2023). Emotional Feedback of Robots: Comparing the perceived emotional feedback by an audience between masculine and feminine voices in robots in popular media. In: HAI 2023 - Proceedings of the 11th Conference on Human-Agent Interaction: . Paper presented at 11th Conference on Human-Agent Interaction, HAI 2023, Gothenburg, Sweden, Dec 4 2023 - Dec 11 2023 (pp. 434-436). Association for Computing Machinery (ACM)
Open this publication in new window or tab >>Emotional Feedback of Robots: Comparing the perceived emotional feedback by an audience between masculine and feminine voices in robots in popular media
2023 (English)In: HAI 2023 - Proceedings of the 11th Conference on Human-Agent Interaction, Association for Computing Machinery (ACM) , 2023, p. 434-436Conference paper, Published paper (Refereed)
Abstract [en]

The sound design of different fantastical aspects can tell the audience much about characters and things. Robots are one of the common fantastical characters that need to be sonified to indicate different aspects of their character. Often, one or more of these traits are an indication of gender and behavior. We investigated these traits in a survey where we asked both quantitative and qualitative questions about the participants' perceptions. We found that participants indicated a bias towards certain robots depending on perceived femininity and masculinity.

Place, publisher, year, edition, pages
Association for Computing Machinery (ACM), 2023
Keywords
Gender, Gender stereotypes, Human-robot interaction, Perception, Robots, Science Fiction, Social Robots
National Category
Human Computer Interaction
Identifiers
urn:nbn:se:kth:diva-341673 (URN)10.1145/3623809.3623953 (DOI)001148034200071 ()2-s2.0-85180130385 (Scopus ID)
Conference
11th Conference on Human-Agent Interaction, HAI 2023, Gothenburg, Sweden, Dec 4 2023 - Dec 11 2023
Note

Part of ISBN 9798400708244

QC 20231229

Available from: 2023-12-29 Created: 2023-12-29 Last updated: 2024-03-05Bibliographically approved
Zhang, B. J., Orthmann, B., Torre, I., Bresin, R., Fick, J., Leite, I. & Fitter, N. T. (2023). Hearing it Out: Guiding Robot Sound Design through Design Thinking. In: 2023 32ND IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, RO-MAN: . Paper presented at 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), AUG 28-31, 2023, Busan, SOUTH KOREA (pp. 2064-2071). Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Hearing it Out: Guiding Robot Sound Design through Design Thinking
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2023 (English)In: 2023 32ND IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, RO-MAN, Institute of Electrical and Electronics Engineers (IEEE) , 2023, p. 2064-2071Conference paper, Published paper (Refereed)
Abstract [en]

Sound can benefit human-robot interaction, but little work has explored questions on the design of nonverbal sound for robots. The unique confluence of sound design and robotics expertise complicates these questions, as most roboticists do not have sound design expertise, necessitating collaborations with sound designers. We sought to understand how roboticists and sound designers approach the problem of robot sound design through two qualitative studies. The first study followed discussions by robotics researchers in focus groups, where these experts described motivations to add robot sound for various purposes. The second study guided music technology students through a generative activity for robot sound design; these sound designers in-training demonstrated high variability in design intent, processes, and inspiration. To unify the two perspectives, we structured recommendations through the design thinking framework, a popular design process. The insights provided in this work may aid roboticists in implementing helpful sounds in their robots, encourage sound designers to enter into collaborations on robot sound, and give key tips and warnings to both.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2023
Series
IEEE RO-MAN, ISSN 1944-9445
National Category
Design
Identifiers
urn:nbn:se:kth:diva-342045 (URN)10.1109/RO-MAN57019.2023.10309489 (DOI)001108678600269 ()2-s2.0-85186967284 (Scopus ID)
Conference
32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), AUG 28-31, 2023, Busan, SOUTH KOREA
Note

Part of proceedings ISBN 979-8-3503-3670-2

QC 20240110

Available from: 2024-01-10 Created: 2024-01-10 Last updated: 2024-03-22Bibliographically approved
Rafi, A. K., Murdeshwar, A., Latupeirissa, A. B. & Bresin, R. (2023). Investigating the Role of Robot Voices and Sounds in Shaping Perceived Intentions. In: HAI 2023 - Proceedings of the 11th Conference on Human-Agent Interaction: . Paper presented at 11th Conference on Human-Agent Interaction, HAI 2023, Gothenburg, Sweden, Dec 4 2023 - Dec 11 2023 (pp. 425-427). Association for Computing Machinery (ACM)
Open this publication in new window or tab >>Investigating the Role of Robot Voices and Sounds in Shaping Perceived Intentions
2023 (English)In: HAI 2023 - Proceedings of the 11th Conference on Human-Agent Interaction, Association for Computing Machinery (ACM) , 2023, p. 425-427Conference paper, Published paper (Refereed)
Abstract [en]

This study explores if, and how, the choices made regarding a robot's speaking voice and characteristic body sounds influence viewers' perceptions of its intent i.e., whether the robot's intention is positive or negative. The analysis focuses on robot representations and sounds in three films: "Robots"(2005) [1], "NextGen"(2018) [2], and "Love, Death, and Robots - Three Robots"(2019) [3]. In eight qualitative interviews, five parameters (tonality, intonation, volume, pitch, and speed) were used to understand robot sounds and the participant's perception of a robot's attitude and intentions. The study culminates in a set of recommendations and considerations for human-robot interaction designers to consider while sound coding for body, physiology, and movement.

Place, publisher, year, edition, pages
Association for Computing Machinery (ACM), 2023
Keywords
Human Perception, Movies, Qualitative Study, Robot sounds, Sound Design
National Category
Robotics Human Computer Interaction
Identifiers
urn:nbn:se:kth:diva-341677 (URN)10.1145/3623809.3623949 (DOI)001148034200068 ()2-s2.0-85180124967 (Scopus ID)
Conference
11th Conference on Human-Agent Interaction, HAI 2023, Gothenburg, Sweden, Dec 4 2023 - Dec 11 2023
Note

Part of ISBN 9798400708244

QC 20231229

Available from: 2023-12-29 Created: 2023-12-29 Last updated: 2024-03-05Bibliographically approved
Goina, M., Bresin, R. & Rodela, R. (2023). Our sound space (oss): an installation for participatory and interactive exploration of soundscapes. In: SMC 2023: Proceedings of the Sound and Music Computing Conference 2023. Paper presented at 20th Sound and Music Computing Conference, SMC 2023, Hybrid, Stockholm, Sweden, Jun 15 2023 - Jun 17 2023 (pp. 255-260). Sound and Music Computing Network
Open this publication in new window or tab >>Our sound space (oss): an installation for participatory and interactive exploration of soundscapes
2023 (English)In: SMC 2023: Proceedings of the Sound and Music Computing Conference 2023, Sound and Music Computing Network , 2023, p. 255-260Conference paper, Published paper (Refereed)
Abstract [en]

This paper describes the development of an interactive tool which allows playing different soundscapes by mixing diverse environmental sounds on demand. This tool is titled Our Sound Space (OSS) and has been developed as part of an ongoing project where we test methods and tools for the participation of young people in spatial planning. As such OSS is meant to offer new opportunities to engage youth in talks about planning, placemaking and more sustainable living environments. In this paper, we describe an implementation of OSS that we are using as an interactive soundscape installation sited in a public place daily visited by people from a diversity of entities (e.g. university, a gymnasium, a restaurant, start-ups). The OSS installation is designed to allow simultaneous activation of several prerecorded sounds broadcast through four loudspeakers. The installation is interactive, meaning that it can be activated and operated by anyone via smartphones and is designed to allow interaction among multiple people at the same time and space.

Place, publisher, year, edition, pages
Sound and Music Computing Network, 2023
National Category
Human Computer Interaction Media and Communication Technology
Identifiers
urn:nbn:se:kth:diva-337824 (URN)2-s2.0-85171747211 (Scopus ID)
Conference
20th Sound and Music Computing Conference, SMC 2023, Hybrid, Stockholm, Sweden, Jun 15 2023 - Jun 17 2023
Note

Part of ISBN 9789152773727

QC 20231009

Available from: 2023-10-09 Created: 2023-10-09 Last updated: 2023-10-09Bibliographically approved
Zojaji, S., Latupeirissa, A. B., Leite, I., Bresin, R. & Peters, C. (2023). Persuasive polite robots in free-standing conversational groups. In: Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023): . Paper presented at 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023) (pp. 1-8). Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Persuasive polite robots in free-standing conversational groups
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2023 (English)In: Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Institute of Electrical and Electronics Engineers (IEEE) , 2023, p. 1-8Conference paper, Published paper (Refereed)
Abstract [en]

Politeness is at the core of the common set of behavioral norms that regulate human communication and is therefore of significant interest in the design of Human-Robot Interactions. In this paper, we investigate how the politeness behaviors of a humanoid robot impact human decisions about where to join a group of two robots. We also evaluate the resulting impact on the perception of the robot's politeness. In a study involving 59 participants, the main (Pepper) robot in the group invited participants to join using six politeness behaviors derived from Brown and Levinson's politeness theory. It requests participants to join the group at the furthest side of the group which involves more effort to reach than a closer side that is also available to the participant but would ignore the request of the robot. We evaluated the robot's effectiveness in terms of persuasiveness, politeness, and clarity. We found that more direct and explicit politeness strategies derived from the theory have a higher level of success in persuading participants to join at the furthest side of the group. We also evaluated participants' adherence to social norms i.e. not walking through the center, or \textit{o-space}, of the group when joining it. Our results showed that participants tended to adhere to social norms when joining at the furthest side by not walking through the center of the group of robots, even though they were informed that the robots were fully automated. 

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2023
Keywords
Social robotics, Politeness, Persuasiveness, Social norms, Human-Robot interaction, free-standing conversational groups
National Category
Engineering and Technology
Identifiers
urn:nbn:se:kth:diva-338180 (URN)10.1109/IROS55552.2023.10341830 (DOI)001133658803003 ()2-s2.0-85182524342 (Scopus ID)
Conference
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)
Note

Part of proceedings ISBN 978-1-6654-9190-7

QC 20231016

Available from: 2023-10-16 Created: 2023-10-16 Last updated: 2024-03-04Bibliographically approved
Latupeirissa, A. B., Panariello, C. & Bresin, R. (2023). Probing Aesthetics Strategies for Robot Sound: Complexity and Materiality in Movement Sonification. ACM Transactions on Human-Robot Interaction
Open this publication in new window or tab >>Probing Aesthetics Strategies for Robot Sound: Complexity and Materiality in Movement Sonification
2023 (English)In: ACM Transactions on Human-Robot Interaction, E-ISSN 2573-9522Article in journal (Refereed) Published
Abstract [en]

This paper presents three studies where we probe aesthetics strategies of sound produced by movement sonification of a Pepper robot by mapping its movements to sound models.

We developed two sets of sound models. The first set was made by two sound models, a sawtooth-based one and another based on feedback chains, for investigating how the perception of synthesized robot sounds would depend on their design complexity. We implemented the second set of sound models for probing the “materiality” of sound made by a robot in motion. This set consisted of a sound synthesis based on an engine highlighting the robot’s internal mechanisms, a metallic sound synthesis highlighting the robot’s typical appearance, and a whoosh sound synthesis highlighting the movement.

We conducted three studies. The first study explores how the first set of sound models can influence the perception of expressive gestures of a Pepper robot through an online survey. In the second study, we carried out an experiment in a museum installation with a Pepper robot presented in two scenarios: (1) while welcoming patrons into a restaurant and (2) while providing information to visitors in a shopping center. Finally, in the third study, we conducted an online survey with stimuli similar to those used in the second study.

Our findings suggest that participants preferred more complex sound models for the sonification of robot movements. Concerning the materiality, participants liked better subtle sounds that blend well with the ambient sound (i.e., less distracting) and soundscapes in which sound sources can be identified. Also, sound preferences varied depending on the context in which participants experienced the robot-generated sounds (e.g., as a live museum installation vs. an online display).

Place, publisher, year, edition, pages
Association for Computing Machinery (ACM), 2023
Keywords
SONAO
National Category
Human Computer Interaction Robotics
Identifiers
urn:nbn:se:kth:diva-324962 (URN)10.1145/3585277 (DOI)001153514400008 ()2-s2.0-85170233153 (Scopus ID)
Note

QC 20230328

Available from: 2023-03-21 Created: 2023-03-21 Last updated: 2024-03-05Bibliographically approved
Orthmann, B., Leite, I., Bresin, R. & Torre, I. (2023). Sounding Robots: Design and Evaluation of Auditory Displays for Unintentional Human-robot Interaction. ACM Transactions on Human-Robot Interaction, 12(4), Article ID 49.
Open this publication in new window or tab >>Sounding Robots: Design and Evaluation of Auditory Displays for Unintentional Human-robot Interaction
2023 (English)In: ACM Transactions on Human-Robot Interaction, E-ISSN 2573-9522, Vol. 12, no 4, article id 49Article in journal (Refereed) Published
Abstract [en]

Non-verbal communication is important in HRI, particularly when humans and robots do not need to actively engage in a task together, but rather they co-exist in a shared space. Robots might still need to communicate states such as urgency or availability, and where they intend to go, to avoid collisions and disruptions. Sounds could be used to communicate such states and intentions in an intuitive and non-disruptive way. Here, we propose a multi-layer classification system for displaying various robot information simultaneously via sound. We first conceptualise which robot features could be displayed (robot size, speed, availability for interaction, urgency, and directionality); we then map them to a set of audio parameters. The designed sounds were then evaluated in five online studies, where people listened to the sounds and were asked to identify the associated robot features. The sounds were generally understood as intended by participants, especially when they were evaluated one feature at a time, and partially when they were evaluated two features simultaneously. The results of these evaluations suggest that sounds can be successfully used to communicate robot states and intended actions implicitly and intuitively.

Place, publisher, year, edition, pages
Association for Computing Machinery (ACM), 2023
Keywords
Additional Key Words and Phrases Sonification, Auditory Display, Design Evaluation, Non-verbal communication, unintentional Human-Robot Interaction
National Category
Human Computer Interaction Robotics
Identifiers
urn:nbn:se:kth:diva-342398 (URN)10.1145/3611655 (DOI)001153514400005 ()2-s2.0-85181449398 (Scopus ID)
Note

QC 20240122

Available from: 2024-01-17 Created: 2024-01-17 Last updated: 2024-03-05Bibliographically approved
Favero, F., Lowden, A., Bresin, R. & Ejhed, J. (2023). Study of the Effects of Daylighting and Artificial Lighting at 59° Latitude on Mental States, Behaviour and Perception. Sustainability, 15(2), Article ID 1144.
Open this publication in new window or tab >>Study of the Effects of Daylighting and Artificial Lighting at 59° Latitude on Mental States, Behaviour and Perception
2023 (English)In: Sustainability, E-ISSN 2071-1050, Vol. 15, no 2, article id 1144Article in journal (Refereed) Published
Abstract [en]

Although there is a documented preference for daylighting over artificial electric lighting indoors, there are comparatively few investigations of behaviour and perception in indoor day-lit spaces at high latitudes during winter. We report a pilot study designed to examine the effects of static artificial lighting conditions (ALC) and dynamic daylighting conditions (DLC) on the behaviour and perception of two groups of participants. Each group (n = 9 for ALC and n = 8 for DLC) experienced one of the two conditions for three consecutive days, from sunrise to sunset. The main results of this study show the following: indoor light exposure in February in Stockholm can be maintained over 1000 lx only with daylight for most of the working day, a value similar to outdoor workers’ exposure in Scandinavia; these values can be over the recommended Melanopic Equivalent Daylight Illuminance threshold; and this exposure reduces sleepiness and increases amount of activity compared to a static artificial lighting condition. Mood and feeling of time passing are also affected, but we do not exactly know by which variable, either personal or group dynamics, view or variation of the lighting exposure. The small sample size does not support inferential statistics; however, these significant effects might be large enough to be of importance in practice. From a sustainability point of view, daylighting can benefit energy saving strategies and well-being, even in the Scandinavian winter.

Place, publisher, year, edition, pages
MDPI AG, 2023
Keywords
lighting design, perception of light, temporal perception, multidisciplinary approach, Scandinavian winter, sustainable environments
National Category
Architecture Design Applied Psychology
Research subject
Architecture; Art, Technology and Design; Technology and Health
Identifiers
urn:nbn:se:kth:diva-344943 (URN)10.3390/su15021144 (DOI)000916129300001 ()2-s2.0-85146697019 (Scopus ID)
Funder
Bertil & Britt Svenssons Stiftelse för Belysningsteknik
Note

QC 20240405

Available from: 2024-04-04 Created: 2024-04-04 Last updated: 2024-05-22Bibliographically approved
Maranhao, T., Berrez, P., Kihl, M. & Bresin, R. (2023). What is the color of choro?: Color preferences for an instrumental brazilian popular music genre. In: SMC 2023: Proceedings of the Sound and Music Computing Conference 2023. Paper presented at 20th Sound and Music Computing Conference, SMC 2023, Hybrid, Stockholm, Sweden, Jun 15 2023 - Jun 17 2023 (pp. 370-376). Sound and Music Computing Network
Open this publication in new window or tab >>What is the color of choro?: Color preferences for an instrumental brazilian popular music genre
2023 (English)In: SMC 2023: Proceedings of the Sound and Music Computing Conference 2023, Sound and Music Computing Network , 2023, p. 370-376Conference paper, Published paper (Refereed)
Abstract [en]

This project explores how a synesthetic experience related to music perception and color association varies across cultures, and whether music with more energetic expressions elicits richer color responses. A total of 206 participants took part in a survey using a customized web page. The participants got to listen to excerpts of Brazilian music in the genre Choro and got to choose one or more color that matched the music the most. The music excerpts were chosen based on the their portrayal of the emotions joy, tender and sorrow. The results showed differences in color preferences for each emotional expression studied across different groups. Furthermore, a correlation between the subjective intensity of the excerpt (considering that, in terms of intensity, Joy > Tender > Sorrow) and the variety of colors chosen by the participants was observed. In general the results supports previous research in this field with happiness or joy is often correlated to the color yellow and sorrow to the color blue. The excerpts that portrayed tenderness had most participants choosing the color yellow but also green for non-Brazilians. Due to the limits of the study, the results are not conclusive. More research is needed to get a better understanding of the impact of utilizing color combination rather than single colors to match music or emotional expressions.

Place, publisher, year, edition, pages
Sound and Music Computing Network, 2023
National Category
Music
Identifiers
urn:nbn:se:kth:diva-337829 (URN)2-s2.0-85171740011 (Scopus ID)
Conference
20th Sound and Music Computing Conference, SMC 2023, Hybrid, Stockholm, Sweden, Jun 15 2023 - Jun 17 2023
Note

Part of ISBN 9789152773727

QC 20231123

Available from: 2023-10-09 Created: 2023-10-09 Last updated: 2023-11-23Bibliographically approved
van den Broek, G. & Bresin, R. (2022). Concurrent sonification of different percentage values: the case of database values about statistics of employee engagement. In: Proceedings of ISon 2022, 7th Interactive Sonification Workshop, BSCC, University of Bremen, Germany, September 22–23, 2022: . Paper presented at 7th Interactive Sonification Workshop, BSCC, University of Bremen, Germany, September 22–23, 2022.
Open this publication in new window or tab >>Concurrent sonification of different percentage values: the case of database values about statistics of employee engagement
2022 (English)In: Proceedings of ISon 2022, 7th Interactive Sonification Workshop, BSCC, University of Bremen, Germany, September 22–23, 2022, 2022Conference paper, Published paper (Refereed)
Abstract [en]

The quality of employee engagement at work is an important factor that can have effects on health, give indications on the quality of leadership, and save costs for companies. Gallup firm has defined three categories of employees that every organization in the world has: Engaged, Not engaged, Actively disengaged. Data collected with about 155000 interviews by Gallup across 155 countries around the world show that only 15% of employees worldwide are engaged in their job, 67% are not engaged, and 18% are actively disengaged. This large amount of data provides the context for reflecting on workplace conditions and engagement at work across global regions. In this paper we present a study in which we use interactive sonification strategies for representing the above three employee categories in order to explore, understand, and reflect on workplace conditions. For the sound design we applied principles of communication of emotional expression in music performance. By leveraging on the strong emotional component offered by expressive interactive sonification it was possible to create sonifications which could help participants in an experiment to identify the three different employees categories and to design the soundscape of their workplace.

Keywords
sonification, sound, soundscape, perception, employee engagement, sonification of different percentage values
National Category
Human Computer Interaction Media and Communication Technology Other Computer and Information Science
Research subject
Media Technology
Identifiers
urn:nbn:se:kth:diva-321422 (URN)
Conference
7th Interactive Sonification Workshop, BSCC, University of Bremen, Germany, September 22–23, 2022
Projects
FutureSound
Note

QC 20221115

Available from: 2022-11-14 Created: 2022-11-14 Last updated: 2024-03-15Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-3086-0322

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