Human Smile Distinguishes between Collaborative and Solitary Tasks in Human-Robot Interaction

In this paper, the smiling behavior of participants when they instruct a robot to assist them assembling a wooden toolbox is analyzed. The results show that participants smile more when interacting with the robot than when they assemble the box. Thus, human tutors' smiling behavior can be used as an indicator to distinguish between collaborative and solitary phases during human-robot collaborative work.