{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,10]],"date-time":"2026-01-10T07:12:09Z","timestamp":1768029129223,"version":"3.49.0"},"reference-count":30,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2016,6,20]],"date-time":"2016-06-20T00:00:00Z","timestamp":1466380800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2016,6,20]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to deal with the problem of designing robot behaviors (mainly to robotic arms) to express emotions. The authors study the effects of robot behaviors from our humanoid robot NAO on the subject\u2019s emotion expression in human\u2013robot interaction (HRI).<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>A method to design robot behavior through the movement primitives is proposed. Then, a novel dimensional affective model is built. Finally, the concept of action semantics is adopted to combine the robot behaviors with emotion expression.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>For the evaluation of this combination, the authors assess positive (excited and happy) and negative (frightened and sad) emotional patterns on 20 subjects which are divided into two groups (whether they were familiar with robots). The results show that the recognition of the different emotion patterns does not have differences between the two groups and the subjects could recognize the robot behaviors with emotions.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>Using affective models to guide robots\u2019 behavior or express their intentions is highly beneficial in human\u2013robot interaction. The authors think about several applications of the emotional motion: improve efficiency in HRI, direct people during disasters, better understanding with human partners or help people perform their tasks better.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This paper presents a method to design robot behaviors with emotion expression. Meanwhile, a similar methodology can be used in other parts (leg, torso, head and so on) of humanoid robots or non-humanoid robots, such as industrial robots.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-08-2015-0164","type":"journal-article","created":{"date-parts":[[2016,6,29]],"date-time":"2016-06-29T14:43:08Z","timestamp":1467211388000},"page":"380-389","source":"Crossref","is-referenced-by-count":22,"title":["Designing robot behavior in human robot interaction based on emotion expression"],"prefix":"10.1108","volume":"43","author":[{"given":"Yuan","family":"Wei","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jing","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"issue":"5","key":"key2020121504403686900_ref001","doi-asserted-by":"crossref","first-page":"985","DOI":"10.1109\/TRO.2009.2017135","article-title":"Stability analysis for prioritized closed-loop inverse kinematic algorithms for redundant robotic systems","volume":"25","year":"2009","journal-title":"IEEE Transactions on Robotics"},{"key":"key2020121504403686900_ref002","first-page":"59","article-title":"Effect of facial colors on humanoids in emotion recognition using speech","year":"2004"},{"key":"key2020121504403686900_ref003","doi-asserted-by":"crossref","first-page":"1731","DOI":"10.1016\/j.robot.2014.07.012","article-title":"Reaching for redundant arms with human-like motion and compliance properties","volume":"62","year":"2014","journal-title":"Robotics and Autonomous Systems"},{"issue":"1","key":"key2020121504403686900_ref004","first-page":"71","article-title":"Measurement instruments for the anthropomorphism, animacy, likeability, perceived intelligence and perceived safety of robots","volume":"1","year":"2008","journal-title":"International Journal of Social Robotics"},{"key":"key2020121504403686900_ref005","first-page":"393","article-title":"A biomimetic approach to mobility distribution for a human-like redundant arm","year":"2006"},{"issue":"1\/2","key":"key2020121504403686900_ref006","first-page":"213","article-title":"Recognizing emotion from dance movement: comparison of spectator recognition and automated techniques","volume":"59","year":"2003","journal-title":"International Journal of Human-Computer Studies"},{"issue":"3","key":"key2020121504403686900_ref008","doi-asserted-by":"crossref","first-page":"242","DOI":"10.1038\/nrn1872","article-title":"Towards the neurobiology of emotional body language","volume":"7","author":"de Gelder","year":"2006","journal-title":"Nature Reviews Neuroscience"},{"issue":"2","key":"key2020121504403686900_ref009","doi-asserted-by":"crossref","first-page":"624","DOI":"10.1109\/TMECH.2012.2197405","article-title":"A novel method of motion planning for an anthropomorphic arm based on movement primitives","volume":"18","year":"2013","journal-title":"IEEE\/ASME Transactionson Mechatronics"},{"issue":"1535","key":"key2020121504403686900_ref010","doi-asserted-by":"crossref","first-page":"3449","DOI":"10.1098\/rstb.2009.0189","article-title":"Darwin\u2019s contributions to our understanding of emotional expressions","volume":"364","year":"2009","journal-title":"Philosophical Transactions of the Royal Society B-Biological Sciences"},{"issue":"2","key":"key2020121504403686900_ref011","doi-asserted-by":"crossref","first-page":"124","DOI":"10.1037\/h0030377","article-title":"Constants across cultures in the face and emotion","volume":"17","year":"1971","journal-title":"Journal of Personality and Social Psychology"},{"issue":"6","key":"key2020121504403686900_ref013","doi-asserted-by":"crossref","first-page":"660","DOI":"10.1016\/j.conb.2005.10.011","article-title":"Motor primitives in vertebrates and invertebrates","volume":"15","year":"2005","journal-title":"Current Opinion in Neurobiology"},{"key":"key2020121504403686900_ref014","first-page":"619","article-title":"The role of affect in decision making","year":"2003","journal-title":"Handbook of Affective Sciences"},{"issue":"1","key":"key2020121504403686900_ref016","doi-asserted-by":"crossref","first-page":"143","DOI":"10.1348\/014466609X425337","article-title":"The role of affect and cognition in health decision making","volume":"49","year":"2010","journal-title":"The British Journal of Social Psychology"},{"issue":"6","key":"key2020121504403686900_ref017","doi-asserted-by":"crossref","first-page":"551","DOI":"10.1108\/01439911211268705","article-title":"Gesture encoding and reproduction for human-robot interaction in text-to-gesture systems","volume":"39","year":"2012","journal-title":"Industrial Robot: An International Journal"},{"key":"key2020121504403686900_ref018","first-page":"4584","article-title":"Development of expressive robotic head for bipedal humanoid robot","year":"2012"},{"issue":"12","key":"key2020121504403686900_ref019","doi-asserted-by":"crossref","first-page":"1256","DOI":"10.1016\/j.robot.2010.08.006","article-title":"Communicating emotions and mental states to robots in a real time parallel framework using Laban movement analysis","volume":"58","year":"2010","journal-title":"Robotics and Autonomous Systems"},{"key":"key2020121504403686900_ref020","first-page":"324","article-title":"Motion rendering system for emotion expression of human form robots based on Laban movement analysis","year":"2010"},{"issue":"1404","key":"key2020121504403686900_ref021","doi-asserted-by":"crossref","first-page":"1755","DOI":"10.1098\/rstb.2000.0733","article-title":"Motor learning through the combination of primitives","volume":"355","year":"2000","journal-title":"Philosophical Transactions of the Royal Society B, Biological Science"},{"issue":"10","key":"key2020121504403686900_ref022","doi-asserted-by":"crossref","first-page":"1805","DOI":"10.1176\/appi.ajp.159.10.1805","article-title":"Affective neuroscience: the foundations of human and animal emotions","volume":"159","year":"2002","journal-title":"American Journal of Psychiatry"},{"issue":"4","key":"key2020121504403686900_ref023","first-page":"344","article-title":"The nature of emotions","volume":"89","year":"2010","journal-title":"American Scientist"},{"issue":"2","key":"key2020121504403686900_ref024","doi-asserted-by":"crossref","first-page":"B51","DOI":"10.1016\/S0010-0277(01)00147-0","article-title":"Perceiving affect from arm movement","volume":"82","year":"2001","journal-title":"Cognition"},{"issue":"5","key":"key2020121504403686900_ref025","doi-asserted-by":"crossref","first-page":"848","DOI":"10.1037\/0022-3514.57.5.848","article-title":"A cross-cultural study of a circumplex model of affect","volume":"57","year":"1989","journal-title":"Journal of Personality and Social Psychology"},{"key":"key2020121504403686900_ref026","first-page":"3113","article-title":"Design and evaluation of emotion-display EDDIE","year":"2006"},{"key":"key2020121504403686900_ref027","first-page":"546","article-title":"Humanoid human-like reaching control based on movement primitives","year":"2010"},{"issue":"3","key":"key2020121504403686900_ref028","doi-asserted-by":"crossref","first-page":"487","DOI":"10.1037\/1528-3542.7.3.487","article-title":"Body expressions influence recognition of emotions in the face and voice","volume":"7","year":"2007","journal-title":"Emotion"},{"issue":"6","key":"key2020121504403686900_ref029","doi-asserted-by":"crossref","first-page":"879","DOI":"10.1002\/(SICI)1099-0992(1998110)28:6<879::AID-EJSP901>3.0.CO;2-W","article-title":"Bodily expression of emotion","volume":"28","year":"1998","journal-title":"European Journal of Social Psychology"},{"issue":"5","key":"key2020121504403686900_ref007","doi-asserted-by":"crossref","first-page":"820","DOI":"10.1037\/0022-3514.76.5.820","article-title":"The two general activation systems of affect: structural findings, evolutionary considerations, and psychobiological evidence","volume":"76","year":"1999","journal-title":"Journal of Personality and Social Psychology"},{"key":"key2020121504403686900_ref030","first-page":"1192","article-title":"Making planned paths look more human-like in humanoid robot manipulation planning","year":"2011"},{"key":"key2020121504403686900_ref015","doi-asserted-by":"crossref","first-page":"107","DOI":"10.1016\/j.mechmachtheory.2014.06.015","article-title":"Generating human-like movements for robotic arms","volume":"81","year":"2014","journal-title":"Mechanism and Machine Theory"},{"issue":"3","key":"key2020121504403686900_ref061","first-page":"640","article-title":"Neural primitives for motion control","volume":"2","year":"2004","journal-title":"IEEE Journal of Oceanic Engineering"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/IR-08-2015-0164","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-08-2015-0164\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-08-2015-0164\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:39:39Z","timestamp":1753393179000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/43\/4\/380-389\/179515"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,6,20]]},"references-count":30,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2016,6,20]]}},"alternative-id":["10.1108\/IR-08-2015-0164"],"URL":"https:\/\/doi.org\/10.1108\/ir-08-2015-0164","relation":{},"ISSN":["0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2016,6,20]]}}}