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Multimodal Technologies Interact. 2018, 2(4), 78;

Allocentric Emotional Affordances in HRI: The Multimodal Binding

Department of Philosophy, Universitat Autònoma de Barcelona, 08193 Barcelona, Spain
School of International Liberal Studies, Waseda University, Tokyo 169-8050, Japan
ARQ (Advanced Robotics at Queen Mary), School of Electronic Engineering and Computer Science, Queen Mary University of London, London E1 4NS, UK
Author to whom correspondence should be addressed.
Received: 18 October 2018 / Accepted: 3 November 2018 / Published: 6 November 2018
PDF [3188 KB, uploaded 6 November 2018]


The concept of affordance perception is one of the distinctive traits of human cognition; and its application to robots can dramatically improve the quality of human-robot interaction (HRI). In this paper we explore and discuss the idea of “emotional affordances” by proposing a viable model for implementation into HRI; which considers allocentric and multimodal perception. We consider “2-ways” affordances: perceived object triggering an emotion; and perceived human emotion expression triggering an action. In order to make the implementation generic; the proposed model includes a library that can be customised depending on the specific robot and application scenario. We present the AAA (Affordance-Appraisal-Arousal) model; which incorporates Plutchik’s Wheel of Emotions; and we outline some numerical examples of how it can be used in different scenarios. View Full-Text
Keywords: affordance; empathy; HRI; emotion; multimodal; allocentric; libraries affordance; empathy; HRI; emotion; multimodal; allocentric; libraries

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Vallverdú, J.; Trovato, G.; Jamone, L. Allocentric Emotional Affordances in HRI: The Multimodal Binding. Multimodal Technologies Interact. 2018, 2, 78.

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Multimodal Technologies Interact. EISSN 2414-4088 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
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