Objective The purpose of this study was to find out an effective evaluation method for users' emotions during human-robot interaction process and understand the effect of robotic behaviors on users' interactive emotions. Methods n this study,two musical interaction process including positive music and negative music and three robotic emotional behaviors expressing positive,neutral,and negative emotions were designed. Then,19 participants randomly completed the musical interaction with the robot that exhibited different emotional behaviors. The subjective assess-ment of emotion, eye - tracking metrics, and electroencephalography signals were collected. Results The results showed that in positive musical interaction,robot's positive behavior significantly enhanced users' valence,arousal,pu-pil diameter,theta relative power in frontal-middle line,and asymmetry score of frontal alpha,compared with robot's neutral behavior. While in negative musical interaction,robot's negative behavior significantly enhanced users' arousal and pupil diameter and weaken valence and asymmetry score of frontal alpha,compared with robot's neutral behavior. Conclusion The results from different indicators achieved a consistency and could be conjunctively used to effective-ly evaluate users' emotions in interaction with a robot. After the evaluation,it was revealed that robot's positive behavior and negative behavior could significantly enhance users' positive emotion or negative emotion respectively in musical interaction with robot,which can be used to improve users' emotion.%目的 探索人-机器人交互过程中用户情感的评价方法,揭示机器人情绪行为对用户交互情感的影响.方法 设计音乐交互过程(正性音乐、负性音乐)和机器人情绪行为(正性情绪行为、中性情绪行为、负性情绪行为),借助主观评价、眼动追踪和脑电技术,采集19名被试在不同音乐交互过程中的主观评价指标、眼动指标和脑电指标.结果 正性音乐交互过程中,机器人正性情绪行为引起的效价、唤醒度、瞳孔直径、额中线theta波相对功率、额区alpha波不对称指数显著大于中性情绪行为;而负性音乐交互过程中,机器人负性情绪行为引起的唤醒度和瞳孔直径显著大于中性情绪行为,效价和额区alpha波不对称指数显著小于中性情绪行为.结论 各评价指标具有一致的结果,各指标相互结合能够有效地评价机器人音乐交互过程中用户的情感状态.评价结果表明机器人正性情绪行为(负性情绪行为)对音乐交互过程中用户正性情感(负性情感)具有增强作用,可用于进一步加强机器人音乐交互过程中用户的情感.
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