{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,28]],"date-time":"2026-03-28T12:01:55Z","timestamp":1774699315494,"version":"3.50.1"},"reference-count":67,"publisher":"World Scientific Pub Co Pte Ltd","issue":"01","funder":[{"DOI":"10.13039\/100000002","name":"National Institutes of Health","doi-asserted-by":"crossref","award":["R01HD082914-01"],"award-info":[{"award-number":["R01HD082914-01"]}],"id":[{"id":"10.13039\/100000002","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2023,2]]},"abstract":"<jats:p>As the influence of social robots in people\u2019s daily lives grows, research on understanding people\u2019s perception of robots including sociability, trust, acceptance, and preference becomes more pervasive. Research has considered visual, vocal, or tactile cues to express robots\u2019 emotions, whereas little research has provided a holistic view in examining the interactions among different factors influencing emotion perception. We investigated multiple facets of user perception on robots during a conversational task by varying the robots\u2019 voice types, appearances, and emotions. In our experiment, 20 participants interacted with two robots having four different voice types. While participants were reading fairy tales to the robot, the robot gave vocal feedback with seven emotions and the participants evaluated the robot\u2019s profiles through post surveys. The results indicate that (1) the accuracy of emotion perception differed depending on presented emotions, (2) a regular human voice showed higher user preferences and naturalness, (3) but a characterized voice was more appropriate for expressing emotions with significantly higher accuracy in emotion perception, and (4) participants showed significantly higher emotion recognition accuracy with the animal robot than the humanoid robot. A follow-up study ([Formula: see text]) with voice-only conditions confirmed that the importance of embodiment. The results from this study could provide the guidelines needed to design social robots that consider emotional aspects in conversations between robots and users.<\/jats:p>","DOI":"10.1142\/s0219843623500019","type":"journal-article","created":{"date-parts":[[2023,1,20]],"date-time":"2023-01-20T05:07:05Z","timestamp":1674191225000},"source":"Crossref","is-referenced-by-count":23,"title":["The Effects of Robot Voices and Appearances on Users\u2019 Emotion Recognition and Subjective Perception"],"prefix":"10.1142","volume":"20","author":[{"given":"Sangjin","family":"Ko","sequence":"first","affiliation":[{"name":"Grado Department of Industrial and Systems Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA, USA"}]},{"given":"Jaclyn","family":"Barnes","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Michigan Technological University, Houghton, MI, USA"}]},{"given":"Jiayuan","family":"Dong","sequence":"additional","affiliation":[{"name":"Grado Department of Industrial and Systems Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA, USA"}]},{"given":"Chung Hyuk","family":"Park","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, Department of Computer Science, The George Washington University, Washington DC, USA"}]},{"given":"Ayanna","family":"Howard","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, The Ohio State University, Columbus, OH, USA"}]},{"given":"Myounghoon","family":"Jeon","sequence":"additional","affiliation":[{"name":"Grado Department of Industrial and Systems Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA, USA"},{"name":"Department of Computer Science, Michigan Technological University, Houghton, MI, USA"}]}],"member":"219","published-online":{"date-parts":[[2023,2,22]]},"reference":[{"issue":"1","key":"S0219843623500019BIB001","doi-asserted-by":"crossref","first-page":"244","DOI":"10.1196\/annals.1280.012","volume":"1000","author":"Bachorowski J. A.","year":"2003","journal-title":"Ann. NY. Acad. Sci."},{"issue":"5","key":"S0219843623500019BIB002","doi-asserted-by":"crossref","first-page":"691","DOI":"10.1037\/a0017088","volume":"9","author":"B\u00e4nziger T.","year":"2009","journal-title":"Emotion"},{"key":"S0219843623500019BIB003","first-page":"51","volume-title":"Paper presented at the 2017 14th Int. Conf. Ubiquitous Robots and Ambient Intelligence (URAI)","author":"Barnes J.","year":"2017"},{"issue":"3","key":"S0219843623500019BIB004","doi-asserted-by":"crossref","first-page":"249","DOI":"10.1080\/10447318.2020.1819667","volume":"37","author":"Barnes J. A.","year":"2021","journal-title":"Int. J. Hum. Comput. Interact."},{"key":"S0219843623500019BIB005","first-page":"271","volume-title":"Paper presented at the Proc. 24th Int. Conf.Auditory Display","author":"Barnes J.","year":"2018"},{"issue":"1","key":"S0219843623500019BIB006","doi-asserted-by":"crossref","first-page":"98","DOI":"10.1016\/j.brainres.2006.01.002","volume":"1079","author":"Beer J. S.","year":"2006","journal-title":"Brain Res."},{"key":"S0219843623500019BIB007","first-page":"421","volume-title":"2016 11th ACM\/IEEE Int. Conf. Human-Robot Interaction (HRI)","author":"Bevill R.","year":"2016"},{"issue":"3","key":"S0219843623500019BIB008","doi-asserted-by":"crossref","first-page":"1503","DOI":"10.1121\/1.4906836","volume":"137","author":"Birkholz P.","year":"2015","journal-title":"J. Acoust. Soc. Am."},{"key":"S0219843623500019BIB009","first-page":"13","volume-title":"Paper presented at the ACM\/IEEE Int. Conf. Human-Robot Interaction (HRI)","author":"Bryant D.","year":"2020"},{"issue":"2","key":"S0219843623500019BIB010","first-page":"104","volume":"4","author":"Cakmak M.","year":"2016","journal-title":"Found. Trends Robot."},{"issue":"1","key":"S0219843623500019BIB011","doi-asserted-by":"crossref","first-page":"18","DOI":"10.1109\/T-AFFC.2010.1","volume":"1","author":"Calvo R. A.","year":"2010","journal-title":"IEEE Trans. Affect. Comput."},{"issue":"2","key":"S0219843623500019BIB013","doi-asserted-by":"crossref","first-page":"220","DOI":"10.1075\/is.18024.con","volume":"21","author":"Conti D.","year":"2020","journal-title":"Interact. Stud."},{"issue":"1","key":"S0219843623500019BIB014","doi-asserted-by":"crossref","first-page":"117","DOI":"10.1037\/emo0000100","volume":"16","author":"Cordaro D. T.","year":"2016","journal-title":"Emotion"},{"key":"S0219843623500019BIB015","doi-asserted-by":"crossref","DOI":"10.1093\/oso\/9780195112719.001.0001","volume-title":"The Expression of the Emotions in Man and Animals","author":"Darwin C.","year":"1998"},{"issue":"4","key":"S0219843623500019BIB016","doi-asserted-by":"crossref","first-page":"257","DOI":"10.1159\/000317771","volume":"32","author":"Decety J.","year":"2010","journal-title":"Develop. Neurosci."},{"key":"S0219843623500019BIB017","doi-asserted-by":"crossref","first-page":"927","DOI":"10.1109\/FG.2011.5771375","volume-title":"Face and Gesture 2011","author":"D\u00edaz M.","year":"2011"},{"key":"S0219843623500019BIB018","first-page":"321","volume-title":"Proc. Conf. Designing Interactive Systems: Processes, Practices, Methods, and Techniques, DIS","author":"DiSalvo C. F.","year":"2002"},{"issue":"3","key":"S0219843623500019BIB019","doi-asserted-by":"crossref","first-page":"169","DOI":"10.1080\/02699939208411068","volume":"6","author":"Ekman P.","year":"1992","journal-title":"Cognit. Emot."},{"issue":"4","key":"S0219843623500019BIB020","doi-asserted-by":"crossref","first-page":"364","DOI":"10.1177\/1754073911410740","volume":"3","author":"Ekman P.","year":"2011","journal-title":"Emot. Rev."},{"issue":"4","key":"S0219843623500019BIB021","doi-asserted-by":"crossref","first-page":"864","DOI":"10.1037\/0033-295X.114.4.864","volume":"114","author":"Epley N.","year":"2007","journal-title":"Psychol. Rev."},{"key":"S0219843623500019BIB022","first-page":"125","volume-title":"Paper presented at the 2012 7th ACM\/IEEE Int. Conf. Human-Robot Interaction (HRI)","author":"Eyssel F.","year":"2012"},{"key":"S0219843623500019BIB023","volume-title":"Paper presented at the 2012 IEEE RO-MAN: The 21st IEEE Int. Symp. Robot and Human Interactive Communication","author":"Eyssel F.","year":"2012"},{"key":"S0219843623500019BIB024","volume-title":"Paper presented at the 2017 26th IEEE Int. Symp. Robot and Human Interactive Communication (RO-MAN)","author":"FakhrHosseini S. M.","year":"2017"},{"key":"S0219843623500019BIB025","volume-title":"Paper presented at the 2017 26th IEEE Int. Symp. Robot and Human Interactive Communication (RO-MAN)","author":"FakhrHosseini S. M.","year":"2017"},{"key":"S0219843623500019BIB026","volume-title":"Paper presented at the Proc. Companion of the 2017 ACM\/IEEE Int. Conf. Human-Robot Interaction","author":"Feldmaier J.","year":"2017"},{"key":"S0219843623500019BIB027","first-page":"29","volume-title":"Paper presented at the 2019 14th ACM\/IEEE Int. Conf. Human-Robot Interaction (HRI)","author":"Fischer K.","year":"2019"},{"issue":"3","key":"S0219843623500019BIB028","doi-asserted-by":"crossref","first-page":"143","DOI":"10.1016\/S0921-8890(02)00372-X","volume":"42","author":"Fong T.","year":"2003","journal-title":"Robot. Auton. Syst."},{"key":"S0219843623500019BIB029","first-page":"109","volume-title":"Proc. Tenth Annual ACM\/IEEE Int. Conf. Human-Robot Interaction","author":"Fraune M. R.","year":"2015"},{"issue":"4","key":"S0219843623500019BIB030","doi-asserted-by":"crossref","first-page":"531","DOI":"10.1016\/j.neuron.2006.05.001","volume":"50","author":"Frith C. D.","year":"2006","journal-title":"Neuron"},{"issue":"4","key":"S0219843623500019BIB031","doi-asserted-by":"crossref","first-page":"479","DOI":"10.1007\/s12369-015-0280-4","volume":"7","author":"Ham J.","year":"2015","journal-title":"Int. J. Soc. Robot."},{"key":"S0219843623500019BIB032","first-page":"131\u2013132","volume-title":"2013 8th ACM\/IEEE Int. Conf. Human-Robot Interaction (HRI)","author":"Haring K. S.","year":"2013"},{"key":"S0219843623500019BIB033","first-page":"523","volume-title":"Paper presented at the Int. Conf. Human-Computer Interaction (HCII)","author":"Jeon M.","year":"2011"},{"key":"S0219843623500019BIB034","volume-title":"Paper presented at the 2017 12th ACM\/IEEE Int. Conf. Human-Robot Interaction (HRI)","author":"Jung M. F.","year":"2017"},{"key":"S0219843623500019BIB035","first-page":"1663","volume-title":"Paper presented at the 2013 IEEE Int. Conf. Robotics and Automation (ICRA)","author":"Kishi T.","year":"2013"},{"key":"S0219843623500019BIB036","first-page":"174","volume-title":"Int. Conf. Human-Computer Interaction","author":"Ko S.","year":"2020"},{"key":"S0219843623500019BIB037","first-page":"112","volume-title":"Paper presented at the Proc. Eleventh Int. Conf. Language Resources and Evaluation (LREC-2018)","author":"Kraus M.","year":"2018"},{"key":"S0219843623500019BIB038","doi-asserted-by":"crossref","first-page":"180","DOI":"10.1109\/ROMAN.2013.6628441","volume-title":"2013 IEEE RO-MAN","author":"Kwak S. S.","year":"2013"},{"issue":"4","key":"S0219843623500019BIB039","doi-asserted-by":"crossref","first-page":"967","DOI":"10.2307\/2578601","volume":"63","author":"Lewis J. D.","year":"1985","journal-title":"Soc. Forc."},{"key":"S0219843623500019BIB040","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1016\/j.ijhcs.2015.01.001","volume":"77","author":"Li J.","year":"2015","journal-title":"Int. J. Hum.-Comput. Stud."},{"key":"S0219843623500019BIB041","first-page":"6363","volume-title":"2016 35th Chinese Control Conf. (CCC)","author":"Liu Z. T.","year":"2016"},{"key":"S0219843623500019BIB042","doi-asserted-by":"crossref","DOI":"10.1177\/1059712316668239","volume-title":"Grounding Emotions in Robots\u2013An Introduction to the Special Issue","author":"Lowe R.","year":"2016"},{"key":"S0219843623500019BIB043","first-page":"211","volume-title":"Paper presented at the 2019 14th ACM\/IEEE Int. Conf. Human-Robot Interaction (HRI)","author":"McGinn C.","year":"2019"},{"key":"S0219843623500019BIB044","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.neuropsychologia.2015.02.018","volume":"70","author":"Mitchell R. L.","year":"2015","journal-title":"Neuropsychologia"},{"key":"S0219843623500019BIB045","first-page":"384","volume-title":"Paper presented at the ROMAN 2006-The 15th IEEE Int. Symp. Robot and Human Interactive Communication","author":"Nabe S.","year":"2006"},{"key":"S0219843623500019BIB046","volume-title":"Paper presented at the Proc. AAAI Symp. Emotional and Intelligent II: The Tangled Knot of Social Cognition","author":"Nas C.","year":"2001"},{"key":"S0219843623500019BIB047","first-page":"2770","volume-title":"Paper presented at the IEEE Int. Conf. Robotics and Automation, Proc. ICRA\u201904","volume":"3","author":"Nonaka S.","year":"2004"},{"issue":"1","key":"S0219843623500019BIB048","doi-asserted-by":"crossref","first-page":"41","DOI":"10.1177\/1745691620985415","volume":"17","author":"Ortony A.","year":"2021","journal-title":"Perspect. Psychol. Sci."},{"key":"S0219843623500019BIB049","first-page":"1253","volume-title":"Proc. 7th Int. Joint Conf. Autonomous Agents and Multiagent Systems","volume":"3","author":"Pereira A.","year":"2008"},{"issue":"3","key":"S0219843623500019BIB050","doi-asserted-by":"crossref","first-page":"190","DOI":"10.1192\/bjp.182.3.190","volume":"182","author":"Phillips M. L.","year":"2003","journal-title":"Br. J. Psychiatr."},{"key":"S0219843623500019BIB051","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1016\/B978-0-12-558701-3.50007-7","volume-title":"Theories of Emotion","author":"Plutchik R.","year":"1980"},{"issue":"3","key":"S0219843623500019BIB052","doi-asserted-by":"crossref","first-page":"246","DOI":"10.1109\/T-AFFC.2013.14","volume":"4","author":"Reisenzein R.","year":"2013","journal-title":"IEEE Trans. Affective Comput."},{"key":"S0219843623500019BIB053","doi-asserted-by":"crossref","first-page":"83","DOI":"10.1016\/j.ijhcs.2015.06.001","volume":"82","author":"Rodriguez-Lizundia E.","year":"2015","journal-title":"Int. J. Human-Comput. Stud."},{"key":"S0219843623500019BIB054","doi-asserted-by":"crossref","first-page":"1161","DOI":"10.1037\/h0077714","volume":"39","author":"Russel J.","year":"1980","journal-title":"J. Pers. Soc. Psychol."},{"key":"S0219843623500019BIB055","doi-asserted-by":"crossref","first-page":"123","DOI":"10.1016\/B978-0-12-801851-4.00004-5","volume-title":"Emotions and Affect in Human Factors and Human-Computer Interaction","author":"Russell J. A.","year":"2017"},{"key":"S0219843623500019BIB056","first-page":"919","volume-title":"Paper presented at the RO-MAN 2007: The 16th IEEE Int. Sym. Robot and Human Interactive Communication","author":"Saint-Aim\u00e9 S.","year":"2007"},{"issue":"1","key":"S0219843623500019BIB057","doi-asserted-by":"crossref","first-page":"366","DOI":"10.1109\/LRA.2021.3128233","volume":"7","author":"Sakai K.","year":"2021","journal-title":"IEEE Robot. Autom. Lett."},{"key":"S0219843623500019BIB058","volume-title":"Animal Behavior","author":"Schilhab T. S. S.","year":"2002"},{"issue":"3","key":"S0219843623500019BIB059","doi-asserted-by":"crossref","first-page":"216","DOI":"10.1016\/j.tics.2017.01.001","volume":"21","author":"Schirmer A.","year":"2017","journal-title":"Trends Cogn. Sci."},{"key":"S0219843623500019BIB060","first-page":"125","volume-title":"Paper presented at the 2015 10th ACM\/IEEE Int. Conf. Human-Robot Interaction (HRI)","author":"Seo S. H.","year":"2015"},{"key":"S0219843623500019BIB061","volume-title":"Paper presented at the Proc. 8th ACM\/IEEE Int. Conf. Human-Robot Interaction","author":"Sharma M.","year":"2013"},{"key":"S0219843623500019BIB062","volume-title":"Paper presented at the Proc. Human Factors and Ergonomics Society Annual Meeting","author":"Sims V. K.","year":"2009"},{"key":"S0219843623500019BIB063","first-page":"2","volume-title":"Paper presented at the Proc. 2017 ACM\/IEEE Int. Conf. Human-Robot Interaction","author":"Song S.","year":"2017"},{"issue":"7","key":"S0219843623500019BIB064","doi-asserted-by":"crossref","first-page":"843","DOI":"10.1038\/nn.2138","volume":"11","author":"Susskind J. M.","year":"2008","journal-title":"Nat. Neurosci."},{"key":"S0219843623500019BIB065","first-page":"707","volume-title":"Paper presented at the RO-MAN 2008-The 17th IEEE Int. Symp. Robot and Human Interactive Communication","author":"Walters M. L.","year":"2008"},{"key":"S0219843623500019BIB066","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1016\/j.jesp.2014.01.005","volume":"52","author":"Waytz A.","year":"2014","journal-title":"J. Exp. Soc. Psychol."},{"key":"S0219843623500019BIB067","volume-title":"Cognitive Psychology and Emotional Disorders","author":"Williams J. M. G.","year":"1988"},{"key":"S0219843623500019BIB068","doi-asserted-by":"crossref","first-page":"143","DOI":"10.1145\/1978942.1978963","volume-title":"Paper presented at the Proc. SIGCHI Conf. Human Factors in Computing Systems","author":"Wobbrock J. O.","year":"2011"}],"container-title":["International Journal of Humanoid Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S0219843623500019","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,12,5]],"date-time":"2023-12-05T02:38:13Z","timestamp":1701743893000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/10.1142\/S0219843623500019"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,2]]},"references-count":67,"journal-issue":{"issue":"01","published-print":{"date-parts":[[2023,2]]}},"alternative-id":["10.1142\/S0219843623500019"],"URL":"https:\/\/doi.org\/10.1142\/s0219843623500019","relation":{},"ISSN":["0219-8436","1793-6942"],"issn-type":[{"value":"0219-8436","type":"print"},{"value":"1793-6942","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,2]]},"article-number":"2350001"}}