John-John Cabibihan
Chapter 03Singapore and Doha

Gestures and social interaction

People read meaning into every move a robot makes, whether or not it was meant. These studies measure what they read: which gestures they understand, how a glance changes a story, and what a robot has to get right to shake hands like a person.

3.63 sfor a typical handshake, from reach to let go
6 of 15robot gestures that people read correctly
114citations for the storytelling robot study
28papers since 2009
Handshake

Three and a half seconds

Robot arms still cannot shake hands the way people do. Sensors on pairs of people shaking hands recorded the forces and movements, and split a handshake into a reach, a contact phase and a return. Inside the contact phase the shake itself lasts 1.31 s, and both hands then hold still for half a second before letting go. Scrub the timeline or let it play.

humanrobotMain shake1.60 sReach 0.92 sMain shake 1.31 sReturn 0.75 sstill 0.52 shand forwardhand up and down
  1. Reach, 0.92 s
  2. Preshake, 0.06 s
  3. Main shake, 1.31 s
  4. Postshake, 0.06 s
  5. Still, 0.52 s
  6. Return, 0.75 s

The whole handshake took 3.63 s on average (SD 0.45 s). The contact phase in the middle, 1.96 s, holds the preshake, the main shake, the postshake and the still moment.

Source: Frontiers in Robotics and AI, 2022. Durations are the published means. Reach and return follow the fifth-degree minimum-jerk polynomials the paper fits; the shake is a sine that dies away, with its size and speed drawn for illustration.

Gestures

Which robot gestures do people get?

A robot that waves or nods needs people to read the gesture the way it was meant. In a web-based video study, people interpreted gestures and emblems made by an anthropomorphic robot. Most of the 15 were misread. Pick one of the six that came through.

Gesture

People watched videos of an anthropomorphic robot making 15 gestures and said what each one meant. Six were read correctly: nodding, clapping, hugging, expressing anger, walking and flying. The other nine were not reliably understood.

Source: IEEE Transactions on Autonomous Mental Development, 2012. The robot here is a simple drawing, not the one in the study.

Persuasion

Look at me when you tell a story

People persuade face to face with their eyes and their hands. A storytelling robot was given either, both or neither, and listeners then judged the character in its story. Turn gaze and gestures on and off to see where each version ranked.

listener“Once upon a time…” a story about lying
The robot uses
  1. Gaze and gestures
  2. Gaze only
  3. Neither
  4. Gestures only

Most persuasive.

A robot told 48 people a classic story about the cost of lying, with or without gazing at them and with or without gestures. Gaze made it more persuasive. Gestures helped only when the robot also looked at the listener, and without gaze they made it less persuasive.

Source: International Journal of Social Robotics, 2015, after a 2011 conference paper. Only the order of the four conditions is shown.

Along the way

Pointing, presence and care

2012 · NUS

Pointing from a distance

Pointing gestures sent through a telerobot shaped how people thought about the space around them.

International Journal of Social Robotics

2013 · NUS

Telepresence for the World Cup

A proposal for robots that let organisers and fans be present at the 2022 World Cup in Qatar without travelling, drawing on studies of touch and gestures passed over the internet.

Qatar Foundation Annual Research Forum

2015 · QU

Spotting an agent

How sensitive people are to the behaviour that makes something look like it acts on purpose.

International Journal of Social Robotics

2026 · QU

Robots in elderly care

A systematic review of service robots for older people: which daily activities they cover, how people feel about them, and how ready they are to deploy.

Lecture Notes in Computer Science

Record

Papers and grants

28 papers

Grants

  • 2007Social Robots: Breathing Life into Machines
    US$1,177,856 · National Research Foundation of Singapore · Collaborator