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.
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.
- Reach, 0.92 s
- Preshake, 0.06 s
- Main shake, 1.31 s
- Postshake, 0.06 s
- Still, 0.52 s
- 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.
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.
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.
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.
- Gaze and gestures
- Gaze only
- Neither
- 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.
Pointing, presence and care
Pointing from a distance
Pointing gestures sent through a telerobot shaped how people thought about the space around them.
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.
Spotting an agent
How sensitive people are to the behaviour that makes something look like it acts on purpose.
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.
Papers and grants
28 papers
- 2026A Perspective on the Future of Ubiquitous Social Robots: Bridging Hardware, AI, and Social Sciences Through a Holistic Co-design Approach
QULecture Notes in Computer Science - 2026Employing Soft Robotic Systems to Replicate the Kinematics and Biomedical Properties of Upper Limb Joints
QULecture Notes in Computer Science - 2026Service Robots in Elderly Care: A Systematic Review of ADL Coverage, Stakeholder Sentiment, and Deployment Readiness
QULecture Notes in Computer Science - 2025Educational Robots: Past, Present, Future
QUStudies in Computational Intelligence, 2 citations - 2022Guidelines for Robot-to-Human Handshake From the Movement Nuances in Human-to-Human Handshake
QUFrontiers in Robotics and AI, 9 citations - 2022Children Perceived Perception of a Mini-Humanoid Social Robot Based on a Psychometric Scale: A Pilot Study in Greece
QULecture Notes in Computer Science, 3 citations - 2022Anthropomorphism in Social Robotics and Negative Attitudes, Sociability, Animacy, Agency, and Disturbance: A Pilot Study - EV
QU, 1 citation - 2021Anthropomorphism and Its Negative Attitudes, Sociability, Animacy, Agency, and Disturbance Requirements for Social Robots: A Pilot Study
QULecture Notes in Computer Science, 6 citations - 2020Special Issue on Robot and Human Interactive Communication 2020 (Part II)
QUAdvanced Robotics, 1 citation - 2020Special Issue on Robot and Human Interactive Communication 2020
QUAdvanced Robotics - 2019EduRobot Taxonomy
QUSmart Learning with Educational Robotics, 15 citations - 2019Robostress, a New Approach to Understanding Robot Usage, Technology, and Stress
QULecture Notes in Computer Science, 4 citations - 2018Attitudes of Heads of Education and Directors of Research Towards the Need for Social Robotics Education in Universities
QULecture Notes in Computer Science, 3 citations - 2018Sociorobotics
QUInternational Journal of Social Robotics, 1 citation - 2015Combining Robotic Persuasive Strategies: The Persuasive Power of a Storytelling Robot that Uses Gazing and Gestures
QUInternational Journal of Social Robotics, 114 citations - 2015Humans are Well Tuned to Detecting Agents Among Non-agents: Examining the Sensitivity of Human Perception to Behavioral Characteristics of Intentional Systems
QUInternational Journal of Social Robotics, 37 citations - 2015Modeling the Temporality of Saliency
QULecture Notes in Computer Science, 1 citation - 2014When Robots Engage Humans
QUInternational Journal of Social Robotics, 14 citations - 2014Social Robotics through an Anticipatory Governance Lens
QULecture Notes in Computer Science, 10 citations - 2013Towards socially-interactive telepresence robots for the 2022 world cup
NUSQatar Foundation Annual Research Forum Volume 2013 Issue 1 - 2012Human-Recognizable Robotic Gestures
NUSIEEE Transactions on Autonomous Mental Development, 49 citations - 2012Telerobotic Pointing Gestures Shape Human Spatial Cognition
NUSInternational Journal of Social Robotics, 26 citations - 2012The Automaticity of Social Behavior towards Robots: The Influence of Cognitive Load on Interpersonal Distance to Approachable versus Less Approachable Robots
NUSLecture Notes in Computer Science, 18 citations - 2011Making Robots Persuasive: The Influence of Combining Persuasive Strategies (Gazing and Gestures) by a Storytelling Robot on Its Persuasive Power
NUSLecture Notes in Computer Science, 74 citations - 2011Towards an Effective Design of Social Robots
NUSInternational Journal of Social Robotics, 51 citations - 2010Minimal Set of Recognizable Gestures for a 10 DOF Anthropomorphic Robot
NUSLecture Notes in Computer Science, 1 citation - 2010Adaptive Compliance Control for Collision-Tolerant Robot Arm with Viscoelastic Trunk
NUSLecture Notes in Computer Science - 2009Pointing Gestures for a Robot Mediated Communication Interface
NUSLecture Notes in Computer Science, 20 citations
Grants
- 2007Social Robots: Breathing Life into Machines
US$1,177,856 · National Research Foundation of Singapore · Collaborator