ELEGNT: Expressive and Functional Movement Design for Non-anthropomorphic Robot

2025-01-21

AI Summary

Non-anthropomorphic robots face challenges in expressing emotions and intentions effectively, leading to suboptimal naturalness in human–robot interaction. Method: This study proposes a motion generation framework integrating functional utility and expressive utility, and introduces, for the first time, generalizable expressive movement primitives tailored for non-anthropomorphic robots. Using a lamp-shaped robot prototype, we combine research-driven design, interactive scenario storyboarding, and user-controlled experiments across six tasks. Contribution/Results: Expressive-motion-driven interaction significantly improves user engagement (p < 0.01), enhances perceived robot trustworthiness, likability, and intention legibility, while preserving task performance. This work establishes a novel paradigm and reusable technical pathway for affective motion modeling and generation in non-anthropomorphic robots.

Technology Category

• Intelligent Robots: Human-Robot Interaction
• Humans and AI: Game Design — Virtual Humans, NPCs and Autonomous Characters
• Computer Vision: Motion & Tracking

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• User Modeling, Personalization and Recommendation: Practical large-scale studies of user experience
• Economics, Online Markets and Human Computation: Trust and reliance of crowd workers and data experts on GenAI

Abstract

Nonverbal behaviors such as posture, gestures, and gaze are essential for conveying internal states, both consciously and unconsciously, in human interaction. For robots to interact more naturally with humans, robot movement design should likewise integrate expressive qualities, such as intention, attention, and emotions, alongside traditional functional considerations like task fulfillment and time efficiency. In this paper, we present the design and prototyping of a lamp-like robot that explores the interplay between functional and expressive objectives in movement design. Using a research-through-design methodology, we document the hardware design process, define expressive movement primitives, and outline a set of interaction scenario storyboards. We propose a framework that incorporates both functional and expressive utilities during movement generation, and implement the robot behavior sequences in different function- and social- oriented tasks. Through a user study comparing expression-driven versus function-driven movements across six task scenarios, our findings indicate that expression-driven movements significantly enhance user engagement and perceived robot qualities. This effect is especially pronounced in social-oriented tasks.

Problem

• Non-humanoid Robot
• Emotion Communication
• Intention Conveyance

Innovation

• Expressive Robotic Actions
• Non-anthropomorphic Robots
• Emotional Engagement