Assessing Emotions in Human-Robot Interaction Based on the Appraisal Theory

Emotions have always played a crucial role in human evolution, improving not only social contact but also their ability to adapt and react to a changing environment. In the field of social robotics, providing robots with the ability to recognize human emotions through the interpretation of non-verbal signals may represent the key to more effective and engaging interaction. However, the problem of emotion recognition has usually been addressed in limited and static scenarios, by classifying emotions using sensory data such as facial expressions, body postures, and voice. This work proposes a novel emotion recognition framework, based on the appraisal theory of emotion. According to the theory, the expected person’s appraisal of a given situation depending on their needs and goals (henceforth referred to as "appraisal information") is combined with sensory data. A pilot experiment was designed and conducted: participants were involved in spontaneous verbal interaction with the humanoid robot Pepper, programmed to elicit different emotions in various moments. Then, a Random Forest classifier was trained to classify positive and negative emotions using: (i) sensor data only; (ii) sensor data supplemented by appraisal information. Preliminary results confirm a performance improvement in emotion classification when appraisal information is considered.