Investigating Entrainment of People’s Pointing Gestures by Robot’s Gestures Using a WOZ Method

A person’s behavior tends to be similar to that of the robot with which he or she is interacting, and this tendency is called entrainment. In this paper, we reveal the robot gestures that are important to the entrainment of people’s pointing gestures. We conducted a laboratory experiment using a Wizard-of-Oz paradigm in which a participant and a robot have an object-reference conversation. The frequencies of a participant’s pointing gestures in conversation were compared among three conditions: (1) gazing, (2) pointing and (3) gazing&pointing conditions. The results show that the participants in the gazing&pointing condition used the most pointing gestures, while those in the pointing condition used the fewest pointing gestures. This suggests that a robot’s gazing gestures play an important role in the entrainment of people’s pointing gestures.

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