{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,10]],"date-time":"2026-03-10T11:20:05Z","timestamp":1773141605069,"version":"3.50.1"},"reference-count":71,"publisher":"Association for Computing Machinery (ACM)","issue":"4","license":[{"start":{"date-parts":[[2023,12,13]],"date-time":"2023-12-13T00:00:00Z","timestamp":1702425600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"Danish Innovation Fund"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2023,12,31]]},"abstract":"<jats:p>Many social robots will have the capacity to interact via speech in the future, and thus they will have to have a voice. However, so far it is unclear how we can create voices that fit their robotic speakers. In this article, we explore how robot voices can be designed to fit the size of the respective robot. We therefore investigate the acoustic correlates of human voices and body size. In Study I, we analyzed 163 speech samples in connection with their speakers\u2019 body size and body height. Our results show that specific acoustic parameters are significantly associated with body height, and to a lesser degree to body weight, but that different features are relevant for female and male voices. In Study II, we tested then for female and male voices to what extent the acoustic features identified can be used to create voices that are reliably associated with the size of robots. The results show that the acoustic features identified provide reliable clues to whether a large or a small robot is speaking.<\/jats:p>","DOI":"10.1145\/3632124","type":"journal-article","created":{"date-parts":[[2023,11,8]],"date-time":"2023-11-08T11:56:32Z","timestamp":1699444592000},"page":"1-24","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":8,"title":["Which Voice for which Robot? Designing Robot Voices that Indicate Robot Size"],"prefix":"10.1145","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1987-5344","authenticated-orcid":false,"given":"Kerstin","family":"Fischer","sequence":"first","affiliation":[{"name":"University of Southern Denmark, Denmark"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8623-1680","authenticated-orcid":false,"given":"Oliver","family":"Niebuhr","sequence":"additional","affiliation":[{"name":"University of Southern Denmark, Denmark"}]}],"member":"320","published-online":{"date-parts":[[2023,12,13]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.anbehav.2018.11.005"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1145\/3342775.3342806"},{"key":"e_1_3_2_4_2","volume-title":"\u2018Heaviness\u2019 in the Perception of Heavy Metal Guitar Timbres","author":"Berger Harris M.","year":"2010","unstructured":"Harris M. Berger and Cornelia Fales. 2010. \u2018Heaviness\u2019 in the Perception of Heavy Metal Guitar Timbres. Wesleyan University Press Middletown, CT."},{"key":"e_1_3_2_5_2","unstructured":"Stephanie Berger and Jana Neitsch. Investigating and comparing remote recording methods. Proceedings of the 13th International Conference of Nordic Prosody . Sciendo."},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1121\/1.1911899"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1177\/2158244015611451"},{"key":"e_1_3_2_8_2","article-title":"How should pepper sound-preliminary investigations on robot vocalizations","author":"Burkhardt Felix","year":"2019","unstructured":"Felix Burkhardt, Milenko Saponja, Julian Sessner, and Benjamin Weiss. 2019. How should pepper sound-preliminary investigations on robot vocalizations. lektronische Sprachsignalverarbeitung Vol. 93, 2019; Tagungsband der 30. Konferenz, Dresden, 6.-8. M\u00e4rz 2019 Peter Birkholz und Simon Stone (Eds.). TUDpress, Dresden.","journal-title":"lektronische Sprachsignalverarbeitung Vol. 93, 2019; Tagungsband der 30. Konferenz, Dresden, 6.-8. M\u00e4rz 2019"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1145\/3359325"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0267432"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1017\/S0140525X22000668"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.2466\/pms.105.1.215-220"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-015-0329-4"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.21437\/SpeechProsody.2020-147"},{"key":"e_1_3_2_15_2","volume-title":"That Voice Sounds Familiar: Factors in Speaker Recognition","author":"Eriksson Erik J.","year":"2007","unstructured":"Erik J. Eriksson. 2007. That Voice Sounds Familiar: Factors in Speaker Recognition. Ph.D. Dissertation. Filosofi och lingvistik."},{"key":"e_1_3_2_16_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.biopsycho.2005.09.003"},{"key":"e_1_3_2_17_2","doi-asserted-by":"publisher","DOI":"10.1075\/pbns.270"},{"key":"e_1_3_2_18_2","doi-asserted-by":"crossref","unstructured":"K. Fischer O. Niebuhr and M. Alm. 2021. Robots for foreign language learning: speaking style influences student performance. Frontiers in Robotics and AI 8 (2021) 680509.","DOI":"10.3389\/frobt.2021.680509"},{"key":"e_1_3_2_19_2","first-page":"121","volume-title":"Proceedings of the Studientexte zur Sprachkommunikation Band 103: Elektronische Sprachsignalverarbeitung 2022","author":"Fischer Kerstin","year":"2022","unstructured":"Kerstin Fischer, Oliver Niebuhr, and Ali Asadi. 2022. The voice of creativity: Effects of pitch range in the voice of a robot facilitator. In Proceedings of the Studientexte zur Sprachkommunikation Band 103: Elektronische Sprachsignalverarbeitung 2022. TUD Press, 121\u2013130."},{"key":"e_1_3_2_20_2","doi-asserted-by":"publisher","DOI":"10.1145\/3344274"},{"key":"e_1_3_2_21_2","first-page":"88","volume-title":"Proceedings of the 1st International Seminar on the Foundations of Speech","author":"Fischer Kerstin","year":"2019","unstructured":"Kerstin Fischer, Oliver Niebuhr, Rosalyn M. Langedijk, and Selina Eisenberger. 2019. I shall know you by your voice\u2013melodic and physical dominance in the design of robot voices. In Proceedings of the 1st International Seminar on the Foundations of Speech. Syddansk Universitet, 88\u201390."},{"key":"e_1_3_2_22_2","doi-asserted-by":"publisher","DOI":"10.1121\/1.427148"},{"key":"e_1_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.3389\/fcomm.2023.1115360"},{"key":"e_1_3_2_24_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.apacoust.2013.08.017"},{"key":"e_1_3_2_25_2","doi-asserted-by":"publisher","DOI":"10.1121\/1.3466853"},{"key":"e_1_3_2_26_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.leaqua.2017.05.001"},{"key":"e_1_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.21437\/Eurospeech.1989-220"},{"key":"e_1_3_2_28_2","doi-asserted-by":"publisher","DOI":"10.1002\/9781444317251.ch3"},{"key":"e_1_3_2_29_2","first-page":"867","volume-title":"Proceedings of the ICPhS","author":"Heselwood Barry","year":"2011","unstructured":"Barry Heselwood and Leendert Plug. 2011. The role of F2 and F3 in the perception of rhoticity: Evidence from listening experiments. In Proceedings of the ICPhS. 867\u2013870."},{"key":"e_1_3_2_30_2","doi-asserted-by":"publisher","DOI":"10.1037\/emo0001048"},{"key":"e_1_3_2_31_2","doi-asserted-by":"crossref","unstructured":"L. M. Hyman. 2008. Universals in phonology. Linguistic Review 25 1-2 (2008) 83\u2013137.","DOI":"10.1515\/TLIR.2008.003"},{"key":"e_1_3_2_32_2","doi-asserted-by":"publisher","DOI":"10.1145\/1056808.1057065"},{"key":"e_1_3_2_33_2","doi-asserted-by":"publisher","DOI":"10.1002\/9781444395068"},{"key":"e_1_3_2_34_2","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2021.645639"},{"key":"e_1_3_2_35_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.cub.2010.12.033"},{"key":"e_1_3_2_36_2","doi-asserted-by":"publisher","DOI":"10.1145\/633292.633461"},{"key":"e_1_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.1177\/107118137802200134"},{"key":"e_1_3_2_38_2","first-page":"324","volume-title":"Proceedings of the Handbook of Computational Social Science","author":"Liu Sunny Xun","year":"2021","unstructured":"Sunny Xun Liu, Elizabeth Arredondo, Hannah Mieczkowski, Jeff Hancock, and Byron Reeves. 2021. A picture is (still) worth a thousand words: The impact of appearance and characteristic narratives on people\u2019s perceptions of social robots. In Proceedings of the Handbook of Computational Social Science. Routledge, 324\u2013342."},{"key":"e_1_3_2_39_2","doi-asserted-by":"crossref","unstructured":"Sabrina L\u00f3pez Pablo Riera Mar\u00eda Florencia Assaneo Manuel Egu\u00eda Mariano Sigman and Marcos A. Trevisan. 2013. Vocal caricatures reveal signatures of speaker identity. Scientific Reports 3 1 (2013) 3407.","DOI":"10.1038\/srep03407"},{"key":"e_1_3_2_40_2","volume-title":"Principles of Phonetic Segmentation","author":"Macha\u010d Pavel","year":"2009","unstructured":"Pavel Macha\u010d and Radek Skarnitzl. 2009. Principles of Phonetic Segmentation. Epocha."},{"key":"e_1_3_2_41_2","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2019.8673305"},{"key":"e_1_3_2_42_2","doi-asserted-by":"crossref","unstructured":"J. W. McIntyre and T. M. Nelson. 1989. Application of automated human voice delivery to warning devices in an intensive care unit: a laboratory study. International Journal of Clinical Monitoring and Computing 6 4 (1989) 255\u2013262.","DOI":"10.1007\/BF01733631"},{"key":"e_1_3_2_43_2","volume-title":"Automatic Attribution of Personality Traits based on Prosodic Features","author":"Mohammadi Gelareh","year":"2012","unstructured":"Gelareh Mohammadi and Alessandro Vinciarelli. 2012. Automatic Attribution of Personality Traits based on Prosodic Features. Technical Report."},{"key":"e_1_3_2_44_2","volume-title":"Proceedings of the 1st International Workshop on Vocal Interactivity in-and-between Humans, Animals and Robots","author":"Moore Roger K.","year":"2017","unstructured":"Roger K. Moore. 2017. Appropriate voices for artefacts: Some key insights. In Proceedings of the 1st International Workshop on Vocal Interactivity in-and-between Humans, Animals and Robots."},{"key":"e_1_3_2_45_2","unstructured":"Roger K. Moore. 2019. A\u2019Canny\u2019approach to spoken language interfaces. arXiv preprint arXiv: 1908.08131 (2019)."},{"key":"e_1_3_2_46_2","volume-title":"Wired for Speech: How Voice Activates and Advances the Human-computer Relationship","author":"Nass Clifford Ivar","year":"2005","unstructured":"Clifford Ivar Nass and Scott Brave. 2005. Wired for Speech: How Voice Activates and Advances the Human-computer Relationship. MIT Press Cambridge, MA."},{"key":"e_1_3_2_47_2","first-page":"29","volume-title":"Proceedings of the Oxford Handbook of Language Prosody","author":"Niebuhr Oliver","year":"2020","unstructured":"Oliver Niebuhr, Henning Reetz, Jonathan Barnes, and C. L. Alan. 2020. Fundamental aspects in the perception of f0. In Proceedings of the Oxford Handbook of Language Prosody. Oxford University Press, 29\u201342."},{"key":"e_1_3_2_48_2","doi-asserted-by":"publisher","DOI":"10.1075\/is.00007.nie"},{"key":"e_1_3_2_49_2","doi-asserted-by":"publisher","DOI":"10.1037\/tmb0000018"},{"key":"e_1_3_2_50_2","doi-asserted-by":"publisher","DOI":"10.1177\/1541931213601786"},{"issue":"10","key":"e_1_3_2_51_2","article-title":"The media equation: How people treat computers, television, and new media like real people","volume":"10","author":"Reeves Byron","year":"1996","unstructured":"Byron Reeves and Clifford Nass. 1996. The media equation: How people treat computers, television, and new media like real people. Cambridge, UK 10, 10 (1996).","journal-title":"Cambridge, UK"},{"key":"e_1_3_2_52_2","doi-asserted-by":"publisher","DOI":"10.5465\/ambpp.2015.18205abstract"},{"key":"e_1_3_2_53_2","doi-asserted-by":"publisher","DOI":"10.3389\/fpsyg.2016.00781"},{"key":"e_1_3_2_54_2","doi-asserted-by":"publisher","DOI":"10.1177\/0956797617713798"},{"key":"e_1_3_2_55_2","doi-asserted-by":"crossref","unstructured":"Carol A. Simpson. 1983. Integrated Voice Controls and Speech Displays for Rotorcraft Mission Management . No. 831523. SAE Technical Paper.","DOI":"10.4271\/831523"},{"key":"e_1_3_2_56_2","doi-asserted-by":"publisher","DOI":"10.1121\/1.2047107"},{"key":"e_1_3_2_57_2","doi-asserted-by":"publisher","DOI":"10.1542\/peds.2006-0125"},{"key":"e_1_3_2_58_2","doi-asserted-by":"publisher","DOI":"10.1145\/3290605.3300833"},{"key":"e_1_3_2_59_2","first-page":"133","volume-title":"Proceedings of the AAAI Spring Symposium: Emotion, Personality, and Social Behavior","author":"Tapus Adriana","year":"2008","unstructured":"Adriana Tapus and Maja J. Mataric. 2008. Socially assistive robots: The link between personality, empathy, physiological signals, and task performance.. In Proceedings of the AAAI Spring Symposium: Emotion, Personality, and Social Behavior. 133\u2013140."},{"key":"e_1_3_2_60_2","doi-asserted-by":"publisher","DOI":"10.1109\/RO-MAN47096.2020.9223599"},{"key":"e_1_3_2_61_2","article-title":"The frequency range of the voice fundamental in the speech of male and female adults","author":"Traunm\u00fcller Hartmut","year":"1995","unstructured":"Hartmut Traunm\u00fcller and Anders Eriksson. 1995. The frequency range of the voice fundamental in the speech of male and female adults. Unpublished Manuscript (1995).","journal-title":"Unpublished Manuscript"},{"key":"e_1_3_2_62_2","doi-asserted-by":"publisher","DOI":"10.1121\/1.429414"},{"key":"e_1_3_2_63_2","doi-asserted-by":"publisher","DOI":"10.1525\/mp.2010.27.3.209"},{"key":"e_1_3_2_64_2","doi-asserted-by":"publisher","DOI":"10.1145\/3319502.3374801"},{"key":"e_1_3_2_65_2","doi-asserted-by":"crossref","unstructured":"Vowel acoustic space development in children: a synthesis of acoustic and anatomic data. Journal of Speech Language and Hearing Research: JSLHR 50 6 (2007) 1510\u20131545.","DOI":"10.1044\/1092-4388(2007\/104)"},{"key":"e_1_3_2_66_2","doi-asserted-by":"publisher","DOI":"10.1080\/14015430500456739"},{"key":"e_1_3_2_67_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jvoice.2019.09.003"},{"key":"e_1_3_2_68_2","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2008.4600750"},{"key":"e_1_3_2_69_2","volume-title":"The Sounds of the IPA","author":"Wells John","year":"1995","unstructured":"John Wells and Jill House. 1995. The Sounds of the IPA. University College London, Department of Phonetics and Linguistics."},{"key":"e_1_3_2_70_2","unstructured":"Yi Xu. 2013. ProsodyPro\u2013A tool for large-scale systematic prosody analysis. TRASP 2013 (2013) 7."},{"key":"e_1_3_2_71_2","doi-asserted-by":"publisher","DOI":"10.17851\/2237-2083.26.4.1435-1454"},{"key":"e_1_3_2_72_2","doi-asserted-by":"publisher","DOI":"10.21437\/Interspeech.2013-540"}],"container-title":["ACM Transactions on Human-Robot Interaction"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3632124","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3632124","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T22:49:55Z","timestamp":1750286995000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3632124"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,12,13]]},"references-count":71,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2023,12,31]]}},"alternative-id":["10.1145\/3632124"],"URL":"https:\/\/doi.org\/10.1145\/3632124","relation":{},"ISSN":["2573-9522"],"issn-type":[{"value":"2573-9522","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,12,13]]},"assertion":[{"value":"2022-05-16","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-10-18","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-12-13","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}