The Effects of Social Gaze in Human-Robot Collaborative Assembly

Kerstin Fischer, Lars Christian Jensen, Franziska Kirstein, Sebastian Stabinger, Özgur Erkent, Dadhichi Shukla, Justus Piater

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review


In this paper we explore how social gaze in an assembly robot affects how naïve users interact with it. In a controlled experimental study, 30 participants instructed an industrial robot to fetch parts needed to assemble a wooden toolbox. Participants either interacted with a robot employing a simple gaze following the movements of its own arm, or with a robot that follows its own movements during tasks, but which also gazes at the participant between instructions. Our qualitative and quantitative analyses show that people in the social gaze condition are significantly more quick to engage the robot, smile significantly more often, and can better account for where the robot is looking. In addition, we find people in the social gaze condition to feel more responsible for the task performance. We conclude that social gaze in assembly scenarios fulfills floor management functions and provides an indicator for the robot’s affordance, yet that it does not influence likability, mutual interest and suspected competence of the robot.

Original languageEnglish
Title of host publicationSocial Robotics : 7th International Conference, ICSR 2015, Paris, France, October 26-30, 2015, Proceedings
Publication date2015
ISBN (Print)978-3-319-25553-8
ISBN (Electronic)978-3-319-25554-5
Publication statusPublished - 2015
Event7th International Conference on Social Robotics - Paris, France
Duration: 26. Oct 201530. Oct 2015


Conference7th International Conference on Social Robotics
SeriesLecture Notes in Computer Science


  • Conversation analysis
  • Gaze
  • Human-robot interaction
  • Smile

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