_applied sciences_  
_Article_  
Exploring the Effects of Multi-Factors on User Emotions in Scenarios of Interaction Errors in Human-Robot Interaction  
**[PERSON] 1,2,*()**, [PERSON] 2, [PERSON] 2, [PERSON] 2, [PERSON] 3,*, [PERSON] 2 and [PERSON] 2  
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et al. show the categories of interaction errors in HRI and demonstrate that users respond differently to different situations and types of interaction errors [5; 6]. This means that the emotions of users change accordingly. Users' emotions are influenced by their motives and behaviors [8]. For example, when users are angry, they may tend to resist interacting with robots, and when happy, they may show a more active attitude to establish social connections with robots. However, there are relative few studies on designing handling strategies for interaction errors in HRI from the perspective of emotion. Emotional experiences are personal and context-specific [9]. They are defined by the Merriam-Webster Dictionary as \"the interrelated conditions in which something occurs or exists\" [10]. In HRI, some researchers focus on the context of information in conversations [11] and contexts that are observed by robots, including viewpoints, operating backgrounds, and so on [12], and refer to contexts as the simulated \"closer to nature\" experience [13]. For example, [PERSON] et al. investigated the interaction errors that occurred in contexts with and without prior knowledge [14]. However, there are still few studies that consider the impact of context on interaction errors. Meanwhile, it is worth noting that interaction is bidirectional. Both the user and the robot can be the starting point of interactive information transmission. From a user-centered view, the common context that users operate the robots and then the robots give feedback can be seen as an active interaction process for users. When the robot actively expresses information to the user, the starting point of information comes from the robot. It is a passive interaction for users. In the process of gradual deployment in different scenarios, robots can adjust reactions and behaviors according to the requirements of the environments and users. This means that, in recent years, passive and active contexts in HRI are not uncommon. However, for these two contexts, there are also relatively few studies on the emotional changes in users when they encounter interaction errors. As mentioned above, this paper mainly focuses on the following four research questions to explore the effects of multi-factors on user emotions when encountering interaction errors in HRI. The corresponding contributions are helpful in promoting the effective design of interaction error-handling strategies in HRI. Research question 1 (RQ1): How does the feedback from the robot affect user emotions in the case of interaction errors in HRI? Research question 2 (RQ2): Do passive and active contexts affect user emotions in the case of interaction errors in HRI? Research question 3 (RQ3): Do previous emotions affect user emotions after encountering interaction errors in HRI?