Nonverbal Sound in Human-Robot Interaction: a Systematic Review

Nonverbal sound offers great potential to enhance robots’ interactions with humans, and a growing body of research has begun explore nonverbal for tasks such as source localization, explicit communication, improving sociability. However, broad interpretation design space that can draw from areas machine learning, music theory, foley. We sought identify compare use cases approaches in human-robot interaction through systematic review. A search robotics-related publisher databases yielded 148 peer-reviewed articles presenting systems, studies, taxonomies. Differences taxonomy overlap terminology adjacent fields speech, gaze, gesture posed difficulties the search, which we attempted address multi-stage process. Based on reviewed articles, developed pair taxonomies using scientific communication principles analyzed study designs measures creation robot sound. discuss recommendations field, including new taxonomies; methods design, generation, validation; paths future research. Roboticists may benefit incorporating key component multimodal interaction.