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Communication can be decoupled in two dimensions: symbolic (information aimed to achieve a particular goal) and spontaneous (displaying the speaker\u2019s emotional and motivational state) communication. Thus, to enhance human\u2013robot interactions, the expressions that are used have to convey both dimensions. This paper presents a method for modelling a robot\u2019s expressiveness as a combination of these two dimensions, where each of them can be generated independently. This is the first contribution of our work. The second contribution is the development of an expressiveness architecture that uses predefined multimodal expressions to convey the symbolic dimension and integrates a series of modulation strategies for conveying the robot\u2019s mood and emotions. In order to validate the performance of the proposed architecture, the last contribution is a series of experiments that aim to study the effect that the addition of the spontaneous dimension of communication and its fusion with the symbolic dimension has on how people perceive a social robot. Our results show that the modulation strategies improve the users\u2019 perception and can convey a recognizable affective state.<\/jats:p>","DOI":"10.3390\/s24113671","type":"journal-article","created":{"date-parts":[[2024,6,5]],"date-time":"2024-06-05T11:50:09Z","timestamp":1717588209000},"page":"3671","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Creating Expressive Social Robots That Convey Symbolic and Spontaneous Communication"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5763-2015","authenticated-orcid":false,"given":"Enrique","family":"Fern\u00e1ndez-Rodicio","sequence":"first","affiliation":[{"name":"RoboticsLab, Department of Systems Engineering and Automation, Universidad Carlos III de Madrid, Av. de la Universidad 30, 28911 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5189-0002","authenticated-orcid":false,"given":"\u00c1lvaro","family":"Castro-Gonz\u00e1lez","sequence":"additional","affiliation":[{"name":"RoboticsLab, Department of Systems Engineering and Automation, Universidad Carlos III de Madrid, Av. de la Universidad 30, 28911 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7845-5812","authenticated-orcid":false,"given":"Juan Jos\u00e9","family":"Gamboa-Montero","sequence":"additional","affiliation":[{"name":"RoboticsLab, Department of Systems Engineering and Automation, Universidad Carlos III de Madrid, Av. de la Universidad 30, 28911 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2148-2067","authenticated-orcid":false,"given":"Sara","family":"Carrasco-Mart\u00ednez","sequence":"additional","affiliation":[{"name":"RoboticsLab, Department of Systems Engineering and Automation, Universidad Carlos III de Madrid, Av. de la Universidad 30, 28911 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0263-6606","authenticated-orcid":false,"given":"Miguel A.","family":"Salichs","sequence":"additional","affiliation":[{"name":"RoboticsLab, Department of Systems Engineering and Automation, Universidad Carlos III de Madrid, Av. de la Universidad 30, 28911 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2024,6,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Kyrarini, M., Lygerakis, F., Rajavenkatanarayanan, A., Sevastopoulos, C., Nambiappan, H.R., Chaitanya, K.K., Babu, A.R., Mathew, J., and Makedon, F. 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