Table 7 Mean human-robot interaction time per condition and scenario in minutes [mm:ss] over all participants.

From: Physiological data for affective computing in HRI with anthropomorphic service robots: the AFFECT-HRI data set

Robot

Tiago++

Elenoide

Condition/Scenario

Neutral

Transparency

Liability

Moral

Immoral

Moral

Immoral

Welcoming

00:07 (SD = 00:01)

00:34 (SD = 00:10)

00:09 (SD = 00:05)

00:07 (SD = 00:02)

00:09 (SD = 00:04)

00:09 (SD = 00:03)

00:11 (SD = 00:07)

Drill

01:38 (SD = 00:19)

02:10 (SD = 00:24)

01:48 (SD = 00:21)

02:14 (SD = 00:20)

02:22 (SD = 00:29)

02:26 (SD = 00:17)

02:21 (SD = 00:23)

Customer account

00:59 (SD = 00:15)

01:29 (SD = 00:23)

00:57 (SD = 00:17)

00:56 (SD = 00:18)

00:50 (SD = 00:09)

00:59 (SD = 00:18)

00:57 (SD = 00:12)

Mold remover

00:43 (SD = 00:08)

00:59 (SD = 00:06)

00:36 (SD = 00:09)

00:42 (SD = 00:11)

00:36 (SD = 00:05)

00:29 (SD = 00:11)

00:26 (SD = 00:06)

Goodbye

–:–

00:05 (SD = 00:05)

–:–

–:–

–:–

–:–

–:–

Measurement duration

03:30 (SD = 00:25)

05:20 (SD = 00:41)

03:33 (SD = 00:38)

04:03 (SD = 00:34)

04:00 (SD = 00:36)

04:06 (SD = 00:25)

03:58 (SD = 00:33)

  1. Note that except for the transparency condition (the waving gesture was performed), the goodbye only contained a short spoken sentence. Since the utterance duration is technically not provided, no duration time is listed.
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