We present the results of two studies investigating gaze behaviors of a robot receiving an object from a human. Robot gaze is an important nonverbal behavior during human-robot handovers, yet prior work has only studied robots as givers. From a frame-by-frame video analysis of human-human handovers, we identified four receiver gaze behaviors: gazing at the giver's hand, gazing at their face, and two kinds of face-hand transition gazes. We implemented these behaviors on a robot arm equipped with an anthropomorphic head. In Study 1, participants compared videos of a handover from a human actor to a robot exhibiting these four gaze behaviors. We found that when the robot transitions its head gaze from the giver's face to the giver's hand, participants consider the handover to be more likable, anthropomorphic, and communicative of timing ($p< 0.0001$). In Study 2, participants physically performed object handovers with the robot and rated their experiences of the handovers for each of the four gaze behaviors of the robot. We found weaker effects with face gaze rated the most likable ($p=0.01$) and anthropomorphic ($p=0.03$) behavior. In contrast to previous studies, we found no evidence that the robot's gaze affected the start time of the human's handover.

中文翻译：

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人机交接中的机器人凝视行为

我们展示了两项研究的结果，这些研究调查了机器人接收人类物体的凝视行为。机器人凝视是人机交接过程中一种重要的非语言行为，但之前的工作仅将机器人作为给予者进行了研究。通过对人与人交接的逐帧视频分析，我们确定了四种接收者凝视行为：凝视给予者的手，凝视他们的脸，以及两种面部-手过渡凝视。我们在配备了拟人头部的机械臂上实现了这些行为。在研究 1 中，参与者将人类演员与展示这四种凝视行为的机器人的交接视频进行了比较。我们发现，当机器人将头部视线从给予者的脸转移到给予者的手上时，参与者认为交接更讨人喜欢，更拟人化，并且在时间上可以交流。$p< 0.0001$）。在研究 2 中，参与者与机器人进行身体交接，并对机器人四种凝视行为中的每一种进行交接的体验进行评分。我们发现面部凝视的较弱效果被评为最可爱（$p=0.01$) 和拟人化的 ($p=0.03$） 行为。与之前的研究相比，我们没有发现任何证据表明机器人的视线会影响人类交接的开始时间。