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We aim to express robots’ emotions with more natural movements. In this paper, we investigate the impression of the physical characteristics of the robots’ motion on the user. We found that some physical features were deeply related to emotions. First, subjects estimated the emotion close to anger when the robot’s arm moved faster. Furthermore, they estimated the emotion close to anger when the robot's gestures became larger. Finally, the subjects estimated the emotion close to pleasant when the robot took longer to change its behavior.

A survey of the effects of non-emotional motion features on emotion