Expressing Certainty of a Mobile Robot with Artificial Subtle Expressions

In this paper, h-ASE(hesitation-based Artificial Subtle Expression) as a novel implementation of ASE is described, in which a robot expresses confidence in its advice to a human. Confidence in advice is one of robot’s useful internal states, and it is an important goal to develop a practical and inexpensive methodology to correctly express it. To achieve this goal, we propose h-ASE in which a robot slowly hesitates by turning to a human before giving advice with low confidence. We conducted experiments to verify the effectiveness of h-ASE and investigate the influences of two independent variables, time-delay and slow-motion, with participants. As a result, we obtained promising results which shows the time-delay factor significantly contributed to h-ASE than the slow-motion factor.

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