Establishing HumanRobot Trust through MusicDriven Robotic Emotion Prosody and Gesture As humanrobot collaboration opportunities continue to expand, trust becomes ever more important for full engagement and utilization of robots. Affective trust, built on emotional relationship and interpersonal bonds is particularly critical as it is more resilient to mistakes and increases the willingness to collaborate. In this paper we present a novel model built on musicdriven emotional prosody and gestures that encourages the perception of a robotic identity, designed to avoid uncanny valley. Symbolic musical phrases were generated and tagged with emotional information by human musicians. These phrases controlled a synthesis engine playing back prerendered audio samples generated through interpolation of phonemes and electronic instruments. Gestures were also driven by the symbolic phrases, encoding the emotion from the musical phrase to low degreeoffreedom movements. Through a user study we showed that our system was able to accurately portray a range of emotions to the user. We also showed with a significant result that our nonlinguistic audio generation achieved an 8% higher mean of average trust than using a stateoftheart texttospeech system.

Human Trust After Robot Mistakes: Study of the Effects of Different Forms of Robot Communication Collaborative robots that work alongside humans will experience service breakdowns and make mistakes. These robotic failures can cause a degradation of trust between the robot and the community being served. A loss of trust may impact whether a user continues to rely on the robot for assistance. In order to improve the teaming capabilities between humans and robots, forms of communication that aid in developing and maintaining trust need to be investigated. In our study, we identify four forms of communication which dictate the timing of information given and type of initiation used by a robot. We investigate the effect that these forms of communication have on trust with and without robot mistakes during a cooperative task. Participants played a memory task game with the help of a humanoid robot that was designed to make mistakes after a certain amount of time passed. The results showed that participantsxe2x80x99 trust in the robot was better preserved when that robot offered advice only upon request as opposed to when the robot took initiative to give advice.