Same Task, Different Robot. Comparing Perceptions of Humanoid Robots Nao and Pepper as Facilitators of Empathy Mapping

Humanoid social robots (HRS) differ not only in their physical appearance but also in the way it is possible for humans to interact with them. But how exactly are human perceptions of these robots different and how do different perceptions impact the quality of the human-robot interaction? The answers to these questions are important when making decisions about which robot to apply for a specific social task. This paper reports on the results from a comparative study with 38 participants, in which two humanoid social robots Nao (ROB1, n = 20) and Pepper (ROB2, n = 18) performed the same task of facilitating empathy mapping sessions. The participants assessed the anthropomorphic qualities of the robotic facilitator using the Human-Robot Interaction Evaluation Scale (HRIES). The study explored how the perceptions of the two robots may be related to the experience of the Human-Robot Interaction (HRI). The results showed a number of significant differences in the perceptions of human-likeness of Nao and Pepper, but no significant differences in the experience of HRI. The robot’s agency was a significant predictor of perceiving HRI as motivating, while the robot’s disturbance was a significant predictor of perceiving HRI as frustrating. The results of the study can be used to inform designs in which prosocial behaviors towards a robot are important for shaping a successful HRI, e.g. in team-based and collaborative activities.