Social robots such as learning companions, therapeutic assistants, and tour guides are dependent on the challenging task of establishing a rapport with their users. People rarely communicate with just words alone; facial expressions, gaze, gesture, and prosodic cues like tone of voice and speaking rate combine to help individuals express their words and convey emotion. One way that individuals communicate a sense of connection with one another is entrainment, where interaction partners adapt their way of speaking, facial expressions, or gestures to each other; entrainment has been linked to trust, liking, and task success and is thought to be a vital phenomenon in how people build rapport. In this work, we introduce a social robot that combines multiple channels of rapport-building behavior, including forms of social dialog and prosodic entrainment. We explore how social dialog and entrainment contribute to both self-reported and behavioral rapport responses. We find prosodic adaptation enhances perceptions of social dialog, and that social dialog and entrainment combined build rapport. Individual differences indicated by gender mediate these social responses; an individual’s underlying rapport state, as indicated by their verbal rapport behavior, is exhibited and triggered differently depending on gender. These results have important repercussions for assessing and modeling a user’s social responses and designing adaptive social agents.

中文翻译：

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使用社交机器人学习伙伴适应用户音调对融洽感知、行为和状态的影响

学习伙伴、治疗助理和导游等社交机器人依赖于与用户建立融洽关系的挑战性任务。人们很少只用文字交流；面部表情、凝视、手势和韵律线索（如语调和语速）相结合，可帮助个人表达话语和传达情感。个人传达彼此联系感的一种方式是夹带，即互动伙伴相互调整说话方式、面部表情或手势；夹带与信任、喜欢和任务成功有关，被认为是人们建立融洽关系的重要现象。在这项工作中，我们引入了一种社交机器人，它结合了多种建立关系的行为渠道，包括社交对话和韵律夹带的形式。我们探索社会对话和夹带如何促进自我报告和行为融洽的反应。我们发现韵律适应增强了对社会对话的感知，并且社会对话和夹带相结合建立了融洽的关系。性别表明的个体差异介导了这些社会反应；一个人的潜在融洽状态，正如他们的言语融洽行为所表明的那样，根据性别而不同地表现和触发。这些结果对评估和建模用户的社交反应以及设计自适应社交代理具有重要影响。社交对话和夹带相结合建立了融洽的关系。性别表明的个体差异介导了这些社会反应；一个人的潜在融洽状态，正如他们的言语融洽行为所表明的那样，根据性别而不同地表现和触发。这些结果对评估和建模用户的社交反应以及设计自适应社交代理具有重要影响。社交对话和夹带相结合建立了融洽的关系。性别表明的个体差异介导了这些社会反应；一个人的潜在融洽状态，正如他们的言语融洽行为所表明的那样，根据性别而不同地表现和触发。这些结果对评估和建模用户的社交反应以及设计自适应社交代理具有重要影响。