Motion design of an interactive small humanoid robot with visual illusion

We propose a method that enables users to convey nonverbal information, especially their gestures, through portable robot avatar based on illusory motion. The illusory motion of head nodding is realized with blinking lights for a human-like mobile phone called Elfoid. Two blinking patterns of LEDs are designed based on biological motion and illusory motion from shadows. The patterns are compared to select an appropriate pattern for the illusion of motion in terms of the naturalness of movements and quick perception. The result shows that illusory motions show better performance than biological motion. We also test whether the illusory motion of head nodding provides a positive effect compared with just blinking lights. In experiments, subjects, who are engaged in role-playing game, are asked to complain to Elfoids about their unpleasant situation. The results show that the subject frustration is eased by Elfoid's illusory head nodding.

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