Motivated by the fact that some human emotional expressions promote affiliating functions such as signaling, social change, and support, all of which have been established as providing social benefits, we investigated how these behaviors can be extended to Human-Robot Interaction (HRI) scenarios. We explored how to furnish an android robot with socially motivated expressions geared toward eliciting adherence to COVID-19 guidelines. We analyzed how different behaviors associated with social expressions in such situations occur in Human-Human Interaction (HHI) and designed a scenario where a robot utilizes context-inspired behaviors (polite, gentle, displeased, and angry) to enforce social compliance. We then implemented these behaviors in an android robot and subjectively evaluated how effectively it expressed them and how they were perceived in terms of their appropriateness, effectiveness, and tendency to enforce social compliance to COVID-19 guidelines. We also considered how the subjects’ sense of values regarding compliance awareness would affect the robot's behavior impressions. Our evaluation results indicated that participants generally preferred polite behaviors by a robot, although participants with different levels of compliance awareness manifested different trends toward appropriateness and effectiveness for social compliance enforcement through negative expressions by the robot.

中文翻译：

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通过 Android 机器人基于意图的表达行为倡导态度改变：遵守 WHO COVID-19 指南


一些人类情感表达促进了信号传递、社会变革和支持等附属功能，所有这些都被认为可以提供社会效益，受这一事实的启发，我们研究了如何将这些行为扩展到人机交互 (HRI) 场景。我们探索了如何为 Android 机器人提供具有社交动机的表达方式，以促使人们遵守 COVID-19 指南。我们分析了在这种情况下与社交表达相关的不同行为如何在人机交互（HHI）中发生，并设计了一个场景，其中机器人利用情境启发的行为（礼貌、温柔、不满和愤怒）来强制社会顺从。然后，我们在 Android 机器人中实现了这些行为，并主观评估了它表达这些行为的有效性，以及人们如何看待它们的适当性、有效性以及强制社会遵守 COVID-19 准则的倾向。我们还考虑了受试者关于合规意识的价值观如何影响机器人的行为印象。我们的评估结果表明，参与者普遍更喜欢机器人的礼貌行为，尽管不同合规意识水平的参与者通过机器人的负面表达表现出不同的社会合规执行适当性和有效性的趋势。