It was a Pleasure Meeting You

Social signals are commonly used to facilitate the usability of humanoid robots. While providing robot with an extended expressibility, these often applied only in structured interactions where parts familiarization or farewell processes disregarded evaluation. In order establish consideration a more comprehensive view, this article presents holistic model human encounters social robot. We propose and discuss particular signals, which aim express robot’s awareness, for each model’s phases. present interaction study humans that inexperienced interacting robots investigate effects signals. Results verify implementation proposed is beneficial participants’ user experience. The further reveals strong interdependency importance addressing entire human–robot studies.