{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,9]],"date-time":"2026-05-09T16:22:23Z","timestamp":1778343743817,"version":"3.51.4"},"reference-count":41,"publisher":"Springer Science and Business Media LLC","issue":"5","license":[{"start":{"date-parts":[[2020,9,20]],"date-time":"2020-09-20T00:00:00Z","timestamp":1600560000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,9,20]],"date-time":"2020-09-20T00:00:00Z","timestamp":1600560000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"name":"Onderzoeksprogramma Artificiele Intelligentie Vlaanderen"},{"name":"Flanders Make SBO Proud"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J of Soc Robotics"],"published-print":{"date-parts":[[2021,8]]},"DOI":"10.1007\/s12369-020-00683-4","type":"journal-article","created":{"date-parts":[[2020,9,20]],"date-time":"2020-09-20T13:02:10Z","timestamp":1600606930000},"page":"1079-1093","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":39,"title":["A Reinforcement Learning Based Cognitive Empathy Framework for Social Robots"],"prefix":"10.1007","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1662-4304","authenticated-orcid":false,"given":"Elahe","family":"Bagheri","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Oliver","family":"Roesler","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hoang-Long","family":"Cao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bram","family":"Vanderborght","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2020,9,20]]},"reference":[{"issue":"1","key":"683_CR1","doi-asserted-by":"publisher","first-page":"117","DOI":"10.1016\/S0890-4065(00)80019-5","volume":"14","author":"RG Adams","year":"2000","unstructured":"Adams RG, Blieszner R, De Vries B (2000) Definitions of friendship in the third age: age, gender, and study location effects. J Aging Stud 14(1):117\u2013133","journal-title":"J Aging Stud"},{"key":"683_CR2","doi-asserted-by":"publisher","first-page":"41","DOI":"10.1016\/j.neures.2014.12.002","volume":"90","author":"M Asada","year":"2015","unstructured":"Asada M (2015) Development of artificial empathy. Neurosci Res 90:41\u201350","journal-title":"Neurosci Res"},{"key":"683_CR3","doi-asserted-by":"publisher","unstructured":"Bagheri E, Bagheri A, Esteban PG, Vanderborgth B (2020) A Novel Model for Emotion Detection from Facial Muscles Activity. In: Silva M, Lu\u00eds Lima J, Reis L, Sanfeliu A, Tardioli D. (eds) Robot 2019: Fourth Iberian Robotics Conference. ROBOT 2019. Advances in Intelligent Systems and Computing, vol 1093. Springer, Cham, pp 237\u2013249. https:\/\/doi.org\/10.1007\/978-3-030-36150-1_20","DOI":"10.1007\/978-3-030-36150-1_20"},{"key":"683_CR4","unstructured":"Bagheri E, Esteban PG, Cao HL, De\u00a0Beir A, Lefeber D, Vanderborght B An autonomous cognitive empathy model responsive to users\u2019 facial emotion expressions. ACM Trans Interact Intell Syst (TIIS) (in press)"},{"issue":"2","key":"683_CR5","doi-asserted-by":"publisher","first-page":"114","DOI":"10.1016\/j.jamda.2010.10.002","volume":"13","author":"R Bemelmans","year":"2012","unstructured":"Bemelmans R, Gelderblom GJ, Jonker P, De Witte L (2012) Socially assistive robots in elderly care: a systematic review into effects and effectiveness. J Am Med Dir Assoc 13(2):114\u2013120","journal-title":"J Am Med Dir Assoc"},{"issue":"1","key":"683_CR6","doi-asserted-by":"publisher","first-page":"51","DOI":"10.1016\/S0005-7894(05)80145-5","volume":"25","author":"RP Bentall","year":"1994","unstructured":"Bentall RP, Haddock G, Slade PD (1994) Cognitive behavior therapy for persistent auditory hallucinations: from theory to therapy. Behav Ther 25(1):51\u201366","journal-title":"Behav Ther"},{"issue":"2","key":"683_CR7","doi-asserted-by":"publisher","first-page":"161","DOI":"10.1016\/j.ijhcs.2004.11.002","volume":"62","author":"S Brave","year":"2005","unstructured":"Brave S, Nass C, Hutchinson K (2005) Computers that care: investigating the effects of orientation of emotion exhibited by an embodied computer agent. Int J Hum Comput Stud 62(2):161\u2013178","journal-title":"Int J Hum Comput Stud"},{"issue":"6","key":"683_CR8","doi-asserted-by":"publisher","first-page":"509","DOI":"10.1097\/PHM.0b013e3181cf569b","volume":"89","author":"SW Brose","year":"2010","unstructured":"Brose SW, Weber DJ, Salatin BA, Grindle GG, Wang H, Vazquez JJ, Cooper RA (2010) The role of assistive robotics in the lives of persons with disability. Am J Phys Med Rehabil 89(6):509\u2013521","journal-title":"Am J Phys Med Rehabil"},{"issue":"2","key":"683_CR9","doi-asserted-by":"publisher","first-page":"49","DOI":"10.1109\/MRA.2019.2904121","volume":"26","author":"HL Cao","year":"2019","unstructured":"Cao HL, Esteban P, Bartlett M, Baxter PE, Belpaeme T, Billing E, Cai H, Coeckelbergh M, Costescu C, David D (2019) Robot-enhanced therapy: development and validation of a supervised autonomous robotic system for autism spectrum disorders therapy. IEEE Robot Autom Mag 26(2):49\u201358","journal-title":"IEEE Robot Autom Mag"},{"key":"683_CR10","doi-asserted-by":"crossref","unstructured":"Churamani N, Barros P, Strahl E, Wermter S (2018) Learning empathy-driven emotion expressions using affective modulations. In: 2018 international joint conference on neural networks (IJCNN). IEEE, pp 1\u20138","DOI":"10.1109\/IJCNN.2018.8489158"},{"key":"683_CR11","doi-asserted-by":"publisher","first-page":"110","DOI":"10.1016\/j.jesp.2014.06.007","volume":"55","author":"M Cikara","year":"2014","unstructured":"Cikara M, Bruneau E, Van Bavel JJ, Saxe R (2014) Their pain gives us pleasure: How intergroup dynamics shape empathic failures and counter-empathic responses. J Exp Soc Psychol 55:110\u2013125","journal-title":"J Exp Soc Psychol"},{"issue":"1","key":"683_CR12","doi-asserted-by":"publisher","first-page":"47","DOI":"10.1007\/s11948-015-9649-x","volume":"22","author":"M Coeckelbergh","year":"2016","unstructured":"Coeckelbergh M, Pop C, Simut R, Peca A, Pintea S, David D, Vanderborght B (2016) A survey of expectations about the role of robots in robot-assisted therapy for children with ASD: ethical acceptability, trust, sociability, appearance, and attachment. Sci Eng Ethics 22(1):47\u201365","journal-title":"Sci Eng Ethics"},{"issue":"1","key":"683_CR13","doi-asserted-by":"publisher","first-page":"113","DOI":"10.1037\/0022-3514.44.1.113","volume":"44","author":"MH Davis","year":"1983","unstructured":"Davis MH (1983) Measuring individual differences in empathy: evidence for a multidimensional approach. J Pers Soc Psychol 44(1):113","journal-title":"J Pers Soc Psychol"},{"key":"683_CR14","doi-asserted-by":"publisher","first-page":"443","DOI":"10.1007\/978-0-387-30715-2_20","volume-title":"\u201cEmpathy\u201d handbook of the sociology of emotions","author":"MH Davis","year":"2006","unstructured":"Davis MH (2006) \u201cEmpathy\u201d handbook of the sociology of emotions. Springer, New York, pp 443\u2013466"},{"issue":"3","key":"683_CR15","doi-asserted-by":"publisher","first-page":"941","DOI":"10.1378\/chest.123.3.941","volume":"123","author":"GB Diette","year":"2003","unstructured":"Diette GB, Lechtzin N, Haponik E, Devrotes A, Rubin HR (2003) Distraction therapy with nature sights and sounds reduces pain during flexible bronchoscopy: a complementary approach to routine analgesia. Chest 123(3):941\u2013948","journal-title":"Chest"},{"key":"683_CR16","unstructured":"Ekman P (2002) Facial action coding system (FACS). A human face. https:\/\/ci.nii.ac.jp\/naid\/10025007347\/en\/"},{"issue":"1","key":"683_CR17","doi-asserted-by":"publisher","first-page":"26","DOI":"10.1037\/1040-3590.4.1.26","volume":"4","author":"LR Goldberg","year":"1992","unstructured":"Goldberg LR (1992) The development of markers for the big-five factor structure. Psychol Assess 4(1):26","journal-title":"Psychol Assess"},{"key":"683_CR18","doi-asserted-by":"crossref","unstructured":"Hatfield E, Cacioppo J, Rapson R (1994) Emotional contagion: Cambridge studies in emotion and social interaction. Cambridge University Press, Cambridge. errors-in-variables regression model when the variances of the measurement errors vary between the observations. Statistics in Medicine, vol.\u00a021, pp. 1089\u20131101","DOI":"10.1002\/sim.1062"},{"issue":"4","key":"683_CR19","doi-asserted-by":"publisher","first-page":"361","DOI":"10.1007\/s12369-010-0068-5","volume":"2","author":"M Heerink","year":"2010","unstructured":"Heerink M, Kr\u00f6se B, Evers V, Wielinga B (2010) Assessing acceptance of assistive social agent technology by older adults: the almere model. Int J Soc Robot 2(4):361\u2013375","journal-title":"Int J Soc Robot"},{"key":"683_CR20","unstructured":"Hoffman ML (1991) Empathy, social cognition, and moral action. In: Kurtines WL, Gewirtz JL, Lamp JL (eds) Handbook of moral behavior and development. Bd, vol\u00a01, Taylor & Francis, pp 275\u2013301"},{"issue":"5","key":"683_CR21","doi-asserted-by":"publisher","first-page":"369","DOI":"10.1080\/10447318.2013.873278","volume":"30","author":"R Kachouie","year":"2014","unstructured":"Kachouie R, Sedighadeli S, Khosla R, Chu M-T (2014) Socially assistive robots in elderly care: a mixed-method systematic literature review. Int J Hum Comput Interact 30(5):369\u2013393","journal-title":"Int J Hum Comput Interact"},{"key":"683_CR22","doi-asserted-by":"crossref","unstructured":"Legaspi R, Kurihara S, Fukui K.-i, Moriyama K, Numao M (2008) An empathy learning problem for HSI: to be empathic, self-improving and ambient. In: 2008 conference on human system interactions. IEEE, pp 209\u2013214","DOI":"10.1109\/HSI.2008.4581435"},{"issue":"2","key":"683_CR23","doi-asserted-by":"publisher","first-page":"291","DOI":"10.1007\/s12369-013-0178-y","volume":"5","author":"I Leite","year":"2013","unstructured":"Leite I, Martinho C, Paiva A (2013) Social robots for long-term interaction: a survey. Int J Soc Robot 5(2):291\u2013308","journal-title":"Int J Soc Robot"},{"key":"683_CR24","doi-asserted-by":"crossref","unstructured":"Leite I, Pereira A, Castellano G, Mascarenhas S, Martinho C, Paiva A (2011) Modelling empathy in social robotic companions. In: International conference on user modeling, adaptation, and personalization. Springer, pp 135\u2013147","DOI":"10.1007\/978-3-642-28509-7_14"},{"issue":"3","key":"683_CR25","doi-asserted-by":"publisher","first-page":"250","DOI":"10.1016\/j.ijhcs.2012.09.005","volume":"71","author":"I Leite","year":"2013","unstructured":"Leite I, Pereira A, Mascarenhas S, Martinho C, Prada R, Paiva A (2013) The influence of empathy in human\u2013robot relations. Int J Hum Comput Stud 71(3):250\u2013260","journal-title":"Int J Hum Comput Stud"},{"key":"683_CR26","doi-asserted-by":"crossref","unstructured":"McQuiggan SW, Lester JC (2006) Learning empathy: a data-driven framework for modeling empathetic companion agents. In: Proceedings of the fifth international joint conference on autonomous agents and multiagent systems. ACM, pp 961\u2013968","DOI":"10.1145\/1160633.1160806"},{"key":"683_CR27","unstructured":"McQuiggan SW, Robison JL, Phillips R, Lester JC (2008) Modeling parallel and reactive empathy in virtual agents: an inductive approach. In: Proceedings of the 7th international joint conference on autonomous agents and multiagent systems-volume 1. International foundation for autonomous agents and multiagent systems, pp 167\u2013174"},{"key":"683_CR28","doi-asserted-by":"publisher","DOI":"10.4324\/9781351308724","volume-title":"Nonverbal communication","author":"A Mehrabian","year":"2017","unstructured":"Mehrabian A (2017) Nonverbal communication. Routledge, New York"},{"issue":"2","key":"683_CR29","doi-asserted-by":"publisher","first-page":"171","DOI":"10.1007\/s12369-012-0171-x","volume":"5","author":"A Niculescu","year":"2013","unstructured":"Niculescu A, van Dijk B, Nijholt A, Li H, See SL (2013) Making social robots more attractive: the effects of voice pitch, humor and empathy. Int J Soc Robot 5(2):171\u2013191","journal-title":"Int J Soc Robot"},{"issue":"3","key":"683_CR30","doi-asserted-by":"publisher","first-page":"40","DOI":"10.1109\/MRA.2018.2833157","volume":"25","author":"AK Pandey","year":"2018","unstructured":"Pandey AK, Gelin R (2018) A mass-produced sociable humanoid robot: pepper: the first machine of its kind. IEEE Robot Autom Mag 25(3):40\u201348","journal-title":"IEEE Robot Autom Mag"},{"issue":"4","key":"683_CR31","doi-asserted-by":"publisher","first-page":"222","DOI":"10.1007\/BF02600129","volume":"9","author":"FW Platt","year":"1994","unstructured":"Platt FW, Keller VF (1994) Empathic communication. J Gen Intern Med 9(4):222\u2013226","journal-title":"J Gen Intern Med"},{"issue":"3\u20134","key":"683_CR32","doi-asserted-by":"publisher","first-page":"267","DOI":"10.1080\/08839510590910174","volume":"19","author":"H Prendinger","year":"2005","unstructured":"Prendinger H, Ishizuka M (2005) The empathic companion: a character-based interface that addresses users\u2019affective states. Applied Artif Intell 19(3\u20134):267\u2013285","journal-title":"Applied Artif Intell"},{"key":"683_CR33","doi-asserted-by":"crossref","unstructured":"Rasool Z, Masuyama N, Islam MN, Loo CK (2015) Empathic interaction using the computational emotion model. In: IEEE symposium series on computational intelligence. IEEE 2015, pp 109\u2013116","DOI":"10.1109\/SSCI.2015.26"},{"key":"683_CR34","doi-asserted-by":"crossref","unstructured":"Rodrigues SH, Mascarenhas SF, Dias J, Paiva A (2009) \u201ci can feel it too!\u201d: Emergent empathic reactions between synthetic characters. In: 2009 3rd international conference on affective computing and intelligent interaction and workshops. IEEE, pp 1\u20137","DOI":"10.1109\/ACII.2009.5349570"},{"issue":"5","key":"683_CR35","doi-asserted-by":"publisher","first-page":"879","DOI":"10.1037\/0022-3514.67.5.879","volume":"67","author":"LL Shaw","year":"1994","unstructured":"Shaw LL, Batson CD, Todd RM (1994) Empathy avoidance: forestalling feeling for another in order to escape the motivational consequences. J Pers Soc Psychol 67(5):879","journal-title":"J Pers Soc Psychol"},{"key":"683_CR36","doi-asserted-by":"crossref","unstructured":"Sidner CL, Kidd CD, Lee C, Lesh N (2004) Where to look: a study of human\u2013robot engagement. In: Proceedings of the 9th international conference on intelligent user interfaces. ACM, pp 78\u201384","DOI":"10.1145\/964442.964458"},{"key":"683_CR37","volume-title":"Reinforcement learning: an introduction","author":"RS Sutton","year":"1998","unstructured":"Sutton RS, Barto AG (1998) Reinforcement learning: an introduction. MIT Press, Cambridge"},{"key":"683_CR38","unstructured":"Tapus A, Mataric MJ (2008) Socially assistive robots: the link between personality, empathy, physiological signals, and task performance. In: AAAI spring symposium: emotion, personality, and social behavior, pp 133\u2013140"},{"key":"683_CR39","doi-asserted-by":"publisher","first-page":"67","DOI":"10.1016\/j.copsyc.2018.05.005","volume":"24","author":"E Weisz","year":"2018","unstructured":"Weisz E, Zaki J (2018) Motivated empathy: a social neuroscience perspective. Curr Opin Psychol 24:67\u201371","journal-title":"Curr Opin Psychol"},{"key":"683_CR40","volume-title":"Data mining: practical machine learning tools and techniques","author":"IH Witten","year":"2016","unstructured":"Witten IH, Frank E, Hall MA, Pal CJ (2016) Data mining: practical machine learning tools and techniques. Morgan Kaufmann, Burlington"},{"key":"683_CR41","unstructured":"Zhang A (2017) Speech recognition (version 3.8). https:\/\/github.com\/Uberi\/speech_recognition\/"}],"container-title":["International Journal of Social Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s12369-020-00683-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s12369-020-00683-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s12369-020-00683-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,9,20]],"date-time":"2021-09-20T00:17:15Z","timestamp":1632097035000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s12369-020-00683-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,9,20]]},"references-count":41,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2021,8]]}},"alternative-id":["683"],"URL":"https:\/\/doi.org\/10.1007\/s12369-020-00683-4","relation":{},"ISSN":["1875-4791","1875-4805"],"issn-type":[{"value":"1875-4791","type":"print"},{"value":"1875-4805","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,9,20]]},"assertion":[{"value":"19 July 2020","order":1,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"20 September 2020","order":2,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}