Effects of proactivity and expressivity on collaboration with interactive robotic drawers

In this study, we examined how participants (N=20) interacted and collaborated with a set of robotic drawers to accomplish an assembly task. Using Wizard of Oz techniques, the drawers' behavior varied along two dimensions - proactivity and expressivity of motions. The results of our study indicate that participants consider an expressive robot to be more involved and interested in the interaction. We also observe that while proactive or expressive robots can dominate the interaction, proactivity may negatively affect the participants' perception of their social status relative to that of the robot's, while expressiveness does not. This shows the importance of utilizing expressive movements when designing socially appropriate robots that collaborate with human users.