The implementation and evaluation of individual preference in robot facial expression based on emotion estimation using biological signals

Peeraya Sripian, Muhammad Nur Adilin Mohd Anuardi, Jiawei Yu, Midori Sugaya

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


Recently, robot services have been widely applied in many fields. To provide optimum service, it is essential to maintain good acceptance of the robot for more effective interaction with users. Previously, we attempted to implement facial expressions by synchronizing an estimated human emotion on the face of a robot. The results revealed that the robot could present different perceptions according to individual preferences. In this study, we considered individual differences to improve the acceptance of the robot by changing the robot’s expression according to the emotion of its interacting partner. The emotion was estimated using biological signals, and the robot changed its expression according to three conditions: synchronized with the estimated emotion, inversely synchronized, and a funny expression. During the experiment, the participants provided feedback regarding the robot’s expression by choosing whether they “like” or “dislike” the expression. We investigated individual differences in the acceptance of the robot expression using the Semantic Differential scale method. In addition, logistic regression was used to create a classification model by considering individual differences based on the biological data and feedback from each participant. We found that the robot expression based on inverse synchronization when the participants felt a negative emotion could result in impression differences among individuals. Then, the robot’s expression was determined based on the classification model, and the Semantic Differential scale on the impression of the robot was compared with the three conditions. Overall, we found that the participants were most accepting when the robot expression was calculated using the proposed personalized method.

Original languageEnglish
Article number6322
Issue number18
Publication statusPublished - 2021 Sept


  • Affect analysis
  • Biological signals
  • EEG
  • Emotion estimation
  • HRV
  • Human-robot interaction
  • Robot
  • Robot facial expression
  • Virtual agent

ASJC Scopus subject areas

  • Analytical Chemistry
  • Information Systems
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering


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