Sense of Agency (SoA) is the feeling of control over one's actions and their outcomes. A well-established implicit measure of SoA is the temporal interval estimation paradigm, in which participants estimate the time interval between a voluntary action and its sensory consequence. In the present study, we aimed to investigate whether the valence of action outcome modulated implicit SoA. The valence was manipulated through interaction partner's (i) positive/negative facial expression, or (ii) type of gaze (gaze contact or averted gaze). The interaction partner was the humanoid robot iCub. In Experiment 1, participants estimated the time interval between the onset of their action (head movement towards the robot), and the robot's facial expression (happy vs. sad face). Experiment 2 was identical, but the outcome of participants' action was the type of robot's gaze (gaze contact vs. averted). In Experiment 3, we assessed-in a within-subject design-the combined effect of robot's type of facial expression and type of gaze. Results showed that, while the robot's facial expression did not affect participants' SoA (Experiment 1), the type of gaze affected SoA in both Experiment 2 and Experiment 3. Overall, our findings showed that the robot's gaze is a more potent factor than facial expression in modulating participants' implicit SoA.


    Access

    Download


    Export, share and cite



    Title :

    The impact of facial expression and communicative gaze of a humanoid robot on individual Sense of Agency



    Publication date :

    2023-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



    Design and Similarity Evaluation on Humanoid Facial Expression

    Wu, Ying / Huang, Qiang / Chen, Xuechao et al. | British Library Conference Proceedings | 2015


    Adaptive facial point detection and emotion recognition for a humanoid robot

    Zhang, Li / Mistry, Kamlesh / Jiang, Ming et al. | British Library Online Contents | 2015


    Humanoid robot

    DING YIBO / MA XUEBAO / YUE XIAOKUI et al. | European Patent Office | 2023

    Free access

    Humanoid Robot

    Hirose, M. / Takenaka, T. / Gomi, H. et al. | British Library Online Contents | 1997


    Leg structure of humanoid robot and humanoid robot

    ZHAO GUOZENG / SHU BIN / LIN XIN | European Patent Office | 2025

    Free access