{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,13]],"date-time":"2026-06-13T07:04:47Z","timestamp":1781334287514,"version":"3.54.1"},"reference-count":39,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2021,7,11]],"date-time":"2021-07-11T00:00:00Z","timestamp":1625961600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"Natural Sciences and Engineering Council, Canada"},{"name":"EU project AlterEgo","award":["600010"],"award-info":[{"award-number":["600010"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2021,9,30]]},"abstract":"<jats:p>When the question of who should get access to a communal resource first is uncertain, people often negotiate via nonverbal communication to resolve the conflict. What should a robot be programmed to do when such conflicts arise in Human-Robot Interaction? The answer to this question varies depending on the context of the situation. Learning from how humans use hesitation gestures to negotiate a solution in such conflict situations, we present a human-inspired design of nonverbal hesitation gestures that can be used for Human-Robot Negotiation. We extracted characteristic features of such negotiative hesitations humans use, and subsequently designed a trajectory generator (Negotiative Hesitation Generator) that can re-create the features in robot responses to conflicts. Our human-subjects experiment demonstrates the efficacy of the designed robot behaviour against non-negotiative stopping behaviour of a robot. With positive results from our human-robot interaction experiment, we provide a validated trajectory generator with which one can explore the dynamics of human-robot nonverbal negotiation of resource conflicts.<\/jats:p>","DOI":"10.1145\/3418302","type":"journal-article","created":{"date-parts":[[2021,7,12]],"date-time":"2021-07-12T00:21:25Z","timestamp":1626049285000},"page":"1-25","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":17,"title":["Design of Hesitation Gestures for Nonverbal Human-Robot Negotiation of Conflicts"],"prefix":"10.1145","volume":"10","author":[{"given":"Ajung","family":"Moon","sequence":"first","affiliation":[{"name":"McGill University, Montreal, QC, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Maneezhay","family":"Hashmi","sequence":"additional","affiliation":[{"name":"University of British Columbia, Vancouver BC, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"H. F. Machiel Van Der","family":"Loos","sequence":"additional","affiliation":[{"name":"University of British Columbia, Vancouver BC, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Elizabeth A.","family":"Croft","sequence":"additional","affiliation":[{"name":"Monash University, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Aude","family":"Billard","sequence":"additional","affiliation":[{"name":"Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2021,7,11]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/2559636.2559682"},{"key":"e_1_2_1_2_1","unstructured":"Amazon.com. 2016. Amazon Mechanical Turk: Artificial Artificial Intelligence. Retrieved from https:\/\/www.mturk.com\/mturk\/welcome.  Amazon.com. 2016. Amazon Mechanical Turk: Artificial Artificial Intelligence. Retrieved from https:\/\/www.mturk.com\/mturk\/welcome."},{"key":"e_1_2_1_3_1","volume-title":"Cooperation: The Basis of Sociability","author":"Argyle Michael","year":"1991","unstructured":"Michael Argyle . 1991 . Cooperation: The Basis of Sociability . Routledge , London\/ New York . 288 pages. Retrieved from http:\/\/www.amazon.com\/Cooperation-Basis-Sociability-Michael-Argyle\/dp\/0415035465. Michael Argyle. 1991. Cooperation: The Basis of Sociability. Routledge, London\/New York. 288 pages. Retrieved from http:\/\/www.amazon.com\/Cooperation-Basis-Sociability-Michael-Argyle\/dp\/0415035465."},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-008-0001-3"},{"key":"e_1_2_1_5_1","volume-title":"Proceedings of the ACM\/IEEE international conference on Human-robot interaction. 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Hesitation disfluencies in spontaneous speech: The meaning of um . Lang. Linquist. Compass 2 , 4 (July 2008), 589\u2013602. DOI:https:\/\/doi.org\/10.1111\/j.1749-818X.2008.00068.x Martin Corley and Oliver W. Stewart. 2008. Hesitation disfluencies in spontaneous speech: The meaning of um. Lang. Linquist. Compass 2, 4 (July 2008), 589\u2013602. DOI:https:\/\/doi.org\/10.1111\/j.1749-818X.2008.00068.x","journal-title":"Lang. Linquist. Compass"},{"key":"e_1_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2014.6926305"},{"key":"e_1_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1145\/2559636.2559817"},{"key":"e_1_2_1_10_1","volume-title":"Hesitation: Impulsivity and Reflection","author":"Doob Leonard William","year":"1990","unstructured":"Leonard William Doob . 1990 . Hesitation: Impulsivity and Reflection . Greenwood Press , Westport, CT . 214 pages. Retrieved from http:\/\/books.google.com\/books?id=Q7B9AAAAMAAJ&pgis=1 http:\/\/www.questia.com\/read\/27488222. 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A cross-species study of gesture and its role in symbolic development: Implications for the gestural theory of language evolution.Front. Psychol. 4 (Jan. 2013) 160. DOI:https:\/\/doi.org\/10.3389\/fpsyg.2013.00160","DOI":"10.3389\/fpsyg.2013.00160"},{"key":"e_1_2_1_15_1","volume-title":"Signs & Body Language Cues","author":"Givens David B.","unstructured":"David B. Givens . 2002. The Nonverbal Dictionary of Gestures , Signs & Body Language Cues . Center for Nonverbal Studies Press , Spokane, Washington . Retrieved from http:\/\/www.mikolaj.info\/edu\/Body_Language_-_List_of_Signs_n_Gestures.pdf. David B. Givens. 2002. The Nonverbal Dictionary of Gestures, Signs & Body Language Cues. Center for Nonverbal Studies Press, Spokane, Washington. 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The hesitation of a robot: A delay in its motion increases learning efficiency and impresses humans as teachable. In Proceedings of the ACM\/IEEE International Conference on Human-Robot Interaction, Vol. 8821007. IEEE, 189\u2013190. DOI:https:\/\/doi.org\/10.1109\/HRI.2010.5453200"},{"key":"e_1_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2159412"},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2316022"},{"key":"e_1_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1467-8624.2005.00845.x"},{"key":"e_1_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.3758\/BF03205750"},{"key":"e_1_2_1_24_1","first-page":"3","article-title":"Hesitation phenomena: A dynamical perspective.Cogn","volume":"11","author":"Merlo Sandra","year":"2010","unstructured":"Sandra Merlo and Pl\u00ednio Almeida Barbosa . 2010 . Hesitation phenomena: A dynamical perspective.Cogn . Process. 11 , 3 (Aug. 2010), 251\u201361. 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