Communication atmosphere based on emotional states
of humans and robots is modeled by using Fuzzy Atmosfield
(FA), where the human emotion is estimated from
bimodal communication cues (i.e., speech and gesture)
using weighted fusion and fuzzy logic, and the robot
emotion is generated by emotional expression synthesis.
It makes possible to quantitatively express overall affective
expression of individuals, and helps to facilitate
smooth communication in humans-robots interaction.
Experiments in a household environment are performed
by four humans and five eye robots, where emotion recognition
of humans based on bimodal cues achieves 84%
accuracy in average, improved by about 10% compared
to that using only speech. Experimental results from the
model of communication atmosphere based on the FA
are evaluated by comparing with questionnaire surveys,
from which the maximum error of 0.25 and the minimum
correlation coefficient of 0.72 for three axes in the
FA confirm the validity of the proposal. In ongoing work,
an atmosphere representation system is being planned
for casual communication between humans and robots,
taking into account multiple emotional modalities such
as speech, gesture, and music.
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