Abstract
The emotional expression of body movement, which is an aspect of emotional communication between humans, has not been considered enough in the field of human-robot interactions (HRIs). This paper explores human perceptions of the emotional expressions of humanoid robot body movements to study the emotional design of the bodily expressions of robots and the characteristics of the human perception of these emotional body movements. Six categories of emotional behaviors, including happiness, anger, sadness, surprise, fear, and disgust, were designed by imitating human emotional body movements, and they were implemented on a Yanshee robot. A total of 135 participants were recruited for questionnaires and eye-tracking measurements. Statistical methods, including K-means clustering, repeated analysis of variance (ANOVA), Friedman's ANOVA, and Spearman's correlation test, were used to analyze the data. According to the statistical results of emotional categories, intensities, and arousals perceived by humans, a guide to grading the designed robot's bodily expressions of emotion is created. By combining this guide with certain objective analyses, such as fixation and trajectory of eye movements, the characteristics of human perception, including the perceived differences between happiness and negative emotions and the trends of eye movements for different emotional categories, are described. This study not only illustrates subjective and objective evidence that humans can perceive robot bodily expressions of emotions through only vision but also provides helpful guidance for designing appropriate emotional bodily expressions in HRIs.