"Nice to meet you!": Expressing Emotions with Movement Gestures and Textual Content in Automatic Handwriting Robots

Abstract

Text-writing robots have been used in assistive writing and drawing applications. However, robots do not convey emotional tones in the writing process due to the lack of behaviors humans typically adopt. To examine how people interpret designed robotic expressions of emotion through both movements and textual output, we used a pen-plotting robot to generate texts by performing humanlike behaviors like stop-and-go, speed, and pressure variation. We examined how people convey emotion in the writing process by observing how they wrote in di_erent emotional contexts. We then mapped these human expressions during writing to the handwriting robot and measured how well other participants understood the robot's a_ective expression. We found that textual output was the strongest determinant of participants' ability to perceive the robot's emotions, whereas parameters of gestural movements of the robots like speed fluency, pressure, size, and acceleration could be useful for understanding the context of the writing expression.