Does a Robot’s Gaze Behavior Affect Entrainment in HRI?

Does a Robot’s Gaze Behavior Affect Entrainment in HRI? | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Does a Robot’s Gaze Behavior Affect Entrainment in HRI? Jay Kejriwal, Chinmaya Mishra, Tom Offrede, Gabriel Skantze, Štefan Beňuš This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-3961654/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 30 Oct, 2024 Read the published version in Computing and Informatics → Version 1 posted You are reading this latest preprint version Abstract Speakers tend to engage in adaptive behavior, known as entrainment, when they reuse their partner's linguistic representations, including lexical, acoustic-prosodic, semantic, or syntactic structures, during a conversation. Studies have explored the relationship between entrainment and social factors such as likeability, task success, and rapport. Still, limited research has investigated the relationship between entrainment and gaze. To address this gap, we conducted a within-subjects user study (N = 33) to test if gaze behavior of a robotic head affects entrainment of subjects toward the robot on four linguistic dimensions: lexical, syntactic, semantic, and acoustic-prosodic. Our results show that participants entrain more on lexical and acoustic-prosodic features when the robot exhibits well-timed gaze aversions similar to the ones observed in human gaze behavior, as compared to when the robot keeps staring at participants constantly. Our results support the predictions of computers are social actors (CASA) model and suggest that implementing well-timed gaze aversion behavior in a robot can lead to speech entrainment in human-robot interactions. entrainment alignment HRI linguistic Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 30 Oct, 2024 Read the published version in Computing and Informatics → Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-3961654","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":273779758,"identity":"54a660a0-0687-443d-9837-58fcdd9c6f4f","order_by":0,"name":"Jay Kejriwal","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA+klEQVRIiWNgGAWjYBACxgYwZgNCBsYDH4AiBlBRorQwHJxBjBYGZAWHeYjRwtx+xoBxRgVfPp9E8oPDNn/sErezH2D+OAOfDT05BowbzrBZtkmkGRzObUtO3NmTwCa5Aa+jgFoetrEZsEknALU0MBsbHEhgY3yAT0v/G6CWfyAt6R8OW/ypNzY4/4D5I14tM4C2bGwAackxOMzAdljO4EYCA36HzXhWcHDGMaAW+TcFB3vbjstZznjYJonP+4b9yRsf9tQcM5DvOb7xwY8/1Tzm/MmHP/bg09LAYXCAgeEYis0NeDQwMMgzsD8AUjV4FY2CUTAKRsEIBwBYZFL5VEODuwAAAABJRU5ErkJggg==","orcid":"","institution":"Institute of Informatics, Slovak Academy of Sciences","correspondingAuthor":true,"prefix":"","firstName":"Jay","middleName":"","lastName":"Kejriwal","suffix":""},{"id":273779759,"identity":"e1a4683a-7cfc-432d-b147-f56bd30e5b66","order_by":1,"name":"Chinmaya Mishra","email":"","orcid":"","institution":"Furhat Robotics AB","correspondingAuthor":false,"prefix":"","firstName":"Chinmaya","middleName":"","lastName":"Mishra","suffix":""},{"id":273779760,"identity":"99c279bc-6ca1-4e88-8575-292b66d84250","order_by":2,"name":"Tom Offrede","email":"","orcid":"","institution":"Humboldt-Universität zu Berlin","correspondingAuthor":false,"prefix":"","firstName":"Tom","middleName":"","lastName":"Offrede","suffix":""},{"id":273779761,"identity":"91c7285c-3f35-4d22-afc8-120a72461066","order_by":3,"name":"Gabriel Skantze","email":"","orcid":"","institution":"Furhat Robotics AB","correspondingAuthor":false,"prefix":"","firstName":"Gabriel","middleName":"","lastName":"Skantze","suffix":""},{"id":273779762,"identity":"a15526a5-c986-45b5-bb8a-125ab8699608","order_by":4,"name":"Štefan Beňuš","email":"","orcid":"","institution":"Institute of Informatics, Slovak Academy of Sciences","correspondingAuthor":false,"prefix":"","firstName":"Štefan","middleName":"","lastName":"Beňuš","suffix":""}],"badges":[],"createdAt":"2024-02-16 15:23:11","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-3961654/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-3961654/v1","draftVersion":[],"editorialEvents":[{"content":"https://doi.org/10.31577/cai_2024_5_1256","type":"published","date":"2024-10-31T00:00:00+00:00"}],"editorialNote":"","failedWorkflow":false,"files":[{"id":68860562,"identity":"f5cca821-8604-4852-bc0b-e47728aacfa0","added_by":"auto","created_at":"2024-11-12 21:52:34","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":2131837,"visible":true,"origin":"","legend":"","description":"","filename":"Manuscript.pdf","url":"https://assets-eu.researchsquare.com/files/rs-3961654/v1_covered_f75dcd6c-ebd3-425f-84bd-51a3ccf68921.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Does a Robot’s Gaze Behavior Affect Entrainment in HRI?","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"entrainment, alignment, HRI, linguistic","lastPublishedDoi":"10.21203/rs.3.rs-3961654/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-3961654/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eSpeakers tend to engage in adaptive behavior, known as entrainment, when they reuse their partner's linguistic representations, including lexical, acoustic-prosodic, semantic, or syntactic structures, during a conversation. Studies have explored the relationship between entrainment and social factors such as likeability, task success, and rapport. Still, limited research has investigated the relationship between entrainment and gaze. To address this gap, we conducted a within-subjects user study (N = 33) to test if gaze behavior of a robotic head affects entrainment of subjects toward the robot on four linguistic dimensions: lexical, syntactic, semantic, and acoustic-prosodic. Our results show that participants entrain more on lexical and acoustic-prosodic features when the robot exhibits well-timed gaze aversions similar to the ones observed in human gaze behavior, as compared to when the robot keeps staring at participants constantly. 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